CN113973262B

CN113973262B - Method for positioning single anchor point under multipath and communication device

Info

Publication number: CN113973262B
Application number: CN202011183286.3A
Authority: CN
Inventors: 黄伟; 李雪茹; 彭兰
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2020-07-24
Filing date: 2020-10-29
Publication date: 2023-05-02
Anticipated expiration: 2040-10-29
Also published as: WO2022017397A1; CN116567526A; US20230156657A1; EP4181537A1; CN113973262A; EP4181537A4

Abstract

The embodiment of the application provides a method and a communication device for positioning a single anchor point under multipath, and belongs to the technical field of positioning. Wherein the method comprises the following steps: receiving first positioning measurement reference signals transmitted through N transmission paths, wherein the first positioning measurement reference signals are transmitted by a reference node, and N is an integer greater than 1; measuring first positioning information according to a first positioning measurement reference signal on a first transmission path, wherein the first transmission path is a transmission path in the N transmission paths; and sending first indication information and a second positioning measurement reference signal to the reference node, wherein the first indication information is used for indicating the first transmission path so that the reference node measures the second positioning information on the first transmission path. In the method, the reference node measures the positioning information based on the same transmission path as the node to be positioned according to the indication of the node to be positioned, so that the consistency of the positioning information is ensured, and the positioning accuracy is improved.

Description

Method for positioning single anchor point under multipath and communication device

The present application claims priority from the chinese patent application filed 24 months 7 in 2020, filed national intellectual property office, application number 202010725675.8, application name "a method of providing auxiliary information and UE", the entire contents of which are incorporated herein by reference.

Technical Field

The present disclosure relates to the field of positioning technologies, and in particular, to a method and a communication device for positioning a single anchor point under multipath.

Background

The existing car networking, intelligent driving, indoor navigation and positioning, intelligent factories, intelligent storage and the like all have strong requirements on high-precision positioning. In addition to these vertical industries, consumer terminal devices have new demands for high-precision positioning, including item positioning tracking, accurate data transmission, smart payment, smart pushing, smart keys, and the like.

In order to reduce anchor deployment cost and anchor positioning resource deficiency in multi-anchor positioning, the present industry proposes a single anchor positioning technology, namely, user Equipment (UE) positioning can be realized by only one anchor. However, in the multipath positioning environment, the arrival time and angle information of signals on different transmission paths are different, and if the single anchor point positioning is performed based on the ranging information and the angle information of different paths, the positioning accuracy cannot be ensured. Therefore, how to ensure that the angle information and the distance information on the same path are used for positioning the UE becomes a key for ensuring the positioning precision of the single anchor point.

Disclosure of Invention

The application provides a method for positioning a single anchor point under multipath, which solves the problem of low positioning precision caused by inconsistent positioning information of a node to be positioned and a reference node by measuring positioning information according to the same transmission path as that used by the node to be positioned by the reference node according to the indication of the node to be positioned.

In a first aspect, a method for positioning a single anchor point under multipath is provided, which is applied to a node to be positioned, and includes: receiving first positioning measurement reference signals transmitted through N transmission paths, wherein the first positioning measurement reference signals are transmitted by a reference node, and N is an integer greater than 1; measuring first positioning information according to the first positioning measurement reference signal on a first transmission path, wherein the first transmission path is one transmission path in the N transmission paths; and sending first indication information and a second positioning measurement reference signal to the reference node, wherein the first indication information is used for indicating the first transmission path so that the reference node measures the second positioning information on the first transmission path.

According to the method for positioning the single anchor point under the multipath, the node to be positioned indicates the transmission path corresponding to the positioning information measured by the node to be positioned to the reference node, so that the reference node measures the positioning information based on the same transmission path, the node to be positioned and the reference node can be ensured to finish the measurement of the positioning information based on the same transmission path, and therefore, the influence of the multipath is reduced and the positioning accuracy is improved when the node to be positioned is positioned.

With reference to the first aspect, in certain implementation manners of the first aspect, the first transmission path is a first path or a strongest path, where a transmission delay of the first positioning measurement reference signal on the first path is minimum, and attenuation of the first positioning measurement reference signal on the strongest path is minimum, and the method further includes: and determining the first transmission path according to the transmission delay and/or the signal power of the first positioning measurement reference signal.

It should be understood that, because the signal transmission delay on the first arrival path is minimum, the time arrival information is the most accurate, so accurate ranging information can be obtained based on the first arrival path; and because the signal intensity on the strongest path is strongest, the error of the corresponding angle information is minimum, so that the accurate angle information can be obtained based on the strongest path.

In one implementation, if the first-reaching path and the strongest path are the same transmission path, accurate ranging information and angle information can be obtained according to the first-reaching path/the strongest path, so that positioning accuracy is ensured.

In one implementation, if the first and strongest paths are two different transmission paths, then the transmission paths that enable smaller positioning errors may be selected to measure positioning information based on certain criteria, which may be a trade-off between the first and strongest paths.

According to the method for positioning the single anchor point under the multipath provided by the embodiment of the application, the positioning information is measured by utilizing the first path or the strongest path, so that the positioning accuracy can be ensured under the multipath environment.

With reference to the first aspect, in certain implementation manners of the first aspect, the first indication information is characterized by 1-bit information, and the first indication information is used for indicating information of the first transmission path, including: when the first transmission path is the first path, the first indication information is 1; when the first transmission path is the strongest path, the first indication information is 0; or when the first transmission path is the first path, the first indication information is 0; and when the first transmission path is the strongest path, the first indication information is 1.

With reference to the first aspect, in certain implementations of the first aspect, measuring first positioning information according to the first positioning measurement reference signal on a first transmission path includes: recording a first arrival time T2 of the first positioning measurement reference signal; a first angle of arrival AOA1 of the first positioning measurement reference signal is measured.

With reference to the first aspect, in certain implementation manners of the first aspect, the method further includes: recording a first transmission time T3 of the second positioning measurement reference signal; and/or measuring a first emission angle AOD1 of the second positioning measurement reference signal.

With reference to the first aspect, in certain implementation manners of the first aspect, the method further includes: transmitting third positioning information to a positioning service node, wherein the third positioning information comprises: the first arrival time T2 and the first sending time T3; or, a difference T3-T2 between the first transmission time T3 and the first arrival time T2; or, the first arrival time T2, the first transmission time T3, and the first arrival angle AOA1 and/or the first emission angle AOD1; or, the difference T3-T2 between the first transmission time T3 and the first arrival time T2, and the first arrival angle AOA1 and/or the first emission angle AOD1.

With reference to the first aspect, in certain implementation manners of the first aspect, the first indication information is carried in channel state information.

With reference to the first aspect, in certain implementations of the first aspect, the channel state information further includes, but is not limited to: precoding matrix indicator PMI, channel quality indicator CQI, and rank indicator RI of channel matrix.

In a second aspect, a method for positioning a single anchor point under multipath is provided, which is applied to a reference node, and includes: transmitting a first positioning measurement reference signal, wherein the first positioning measurement reference signal is transmitted to a node to be positioned through N transmission paths, and N is an integer larger than 1; receiving first indication information and a second positioning measurement reference signal sent by the node to be positioned, wherein the first indication information is used for indicating a first transmission path, and the first transmission path is one transmission path in the N transmission paths; and measuring second positioning information on the first transmission path according to the first indication information.

According to the method for positioning the single anchor point under the multipath, the to-be-positioned node indicates the beam corresponding to the measurement information used by the to-be-positioned node to measure the positioning information to the reference node, so that the reference node can finish the measurement of the positioning information based on the same measurement information, the to-be-positioned node and the positioning information measured by the reference node can be ensured to correspond to the transmission paths in the same beam, the multipath interference of other beams is avoided under the multipath environment, and the accuracy of the positioning information is ensured.

With reference to the second aspect, in certain implementations of the second aspect, the first transmission path is a first path or a strongest path, where a transmission delay of the first positioning measurement reference signal on the first path is smallest and an attenuation of the first positioning measurement reference signal on the strongest path is smallest.

With reference to the second aspect, in certain implementations of the second aspect, the first indication information is characterized by 1-bit information, and the first indication information is used for indicating information of the first transmission path, including: when the first transmission path is the first path, the first indication information is 1; when the first transmission path is the strongest path, the first indication information is 0; or when the first transmission path is the first path, the first indication information is 0; and when the first transmission path is the strongest path, the first indication information is 1.

With reference to the second aspect, in some implementations of the second aspect, the measuring, according to the first indication information, second positioning information on the first transmission path includes: recording a second arrival time T4 of the second positioning measurement reference signal; and measuring a second arrival angle AOA2 of the second positioning measurement reference signal.

With reference to the second aspect, in certain implementations of the second aspect, the method further includes: recording a second transmission time T1 of the first positioning measurement reference signal; and/or measuring a second emission angle AOD2 of the first positioning measurement reference signal.

With reference to the second aspect, in certain implementations of the second aspect, the method further includes: transmitting fourth positioning information to a positioning service node, wherein the fourth positioning information comprises: the second sending time T1 and the second reaching time T4; or, a difference T4-T1 between the second arrival time T4 and the second transmission time T1; or, the second transmission time T1, the second arrival time T4, and the second arrival angle AOA2 and/or the second emission angle AOD2; or, a difference T4-T1 between the second arrival time T4 and the second transmission time T1, and the second arrival angle AOA2 and/or the second transmission angle AOD2.

With reference to the second aspect, in certain implementations of the second aspect, the first indication information is carried in channel state information.

With reference to the second aspect, in certain implementations of the second aspect, the channel state information further includes, but is not limited to: precoding matrix indicates PMI information, channel quality indication information CQI, rank indication information RI of channel matrix.

In a third aspect, a method for positioning a single anchor point under multipath is provided, which is applied to a node to be positioned, and includes: receiving first positioning measurement reference signals transmitted through N transmission paths, wherein the first positioning measurement reference signals are transmitted by a reference node, and N is an integer greater than 1; measuring first positioning information according to first intermediate information, wherein the first intermediate information comprises a Discrete Fourier Transform (DFT) base vector corresponding to a first transmission path in a precoding sub-matrix, and the first transmission path belongs to one of the N transmission paths; and sending first indication information and a second positioning measurement reference signal to the reference node, wherein the first indication information is used for indicating the first intermediate information so that the reference node measures the second positioning information according to the first intermediate information indicated by the first indication information.

Alternatively, the DFT basis vector corresponding to the first transmission path in the precoding sub-matrix may be: in association with the first transmission path, the first positioning measurement reference signal on the first transmission path can be projected to the time delay domain, or projected vectors on the time delay domain and the angle domain.

It should be understood that the precoding matrix in the embodiments of the present application may be a matrix formed by frequency domain DFT vectors or space domain and frequency domain DFT vectors selected by the node to be located in the basic frequency domain or the basic space domain and frequency domain vector set.

With reference to the third aspect, in certain implementations of the third aspect, the first indication information is used to indicate the first intermediate information, including: the first indication information includes identification information of a DFT basis vector corresponding to the first transmission path in the precoding sub-matrix.

With reference to the third aspect, in some implementations of the third aspect, the first indication information includes identification information of a DFT basis vector corresponding to the first transmission path in the precoding sub-matrix, including: the first indication information includes index information of the DFT basis vector.

With reference to the third aspect, in some implementations of the third aspect, the precoding sub-matrix is a sub-matrix composed of frequency domain DFT; or the precoding submatrix is a submatrix formed by space-domain and frequency-domain two-dimensional DFT base vectors.

With reference to the third aspect, in some implementations of the third aspect, the first transmission path is a first path or a strongest path that is resolved after the DFT basis vector is projected, where a transmission delay of the first positioning measurement reference signal on the first path is minimum, and attenuation of the first positioning measurement reference signal on the strongest path is minimum, and the method further includes: and determining the first transmission path according to the transmission delay and/or the signal power of the first positioning measurement reference signal.

With reference to the third aspect, in some implementations of the third aspect, acquiring first positioning information according to the first positioning measurement reference signal on the first transmission path includes: recording the arrival time T2 of the first positioning measurement reference signal; and measuring an arrival angle AOA1 of the first positioning measurement reference signal.

With reference to the third aspect, in certain implementations of the third aspect, the method further includes: recording a transmission time T3 of the second positioning measurement reference signal; and/or measuring an emission angle AOD1 of the second positioning measurement reference signal.

With reference to the third aspect, in certain implementations of the third aspect, the method further includes: transmitting third positioning information to a positioning service node, wherein the third positioning information comprises: the arrival time T2 and the transmission time T3; or, a difference T3-T2 between the transmission time T3 and the arrival time T2; or, the arrival time T2, the transmission time T3, and the arrival angle AOA1 and/or the emission angle AOD1; or, the difference T3-T2 between the transmission time T3 and the arrival time T2, and the arrival angle AOA1 and/or the emission angle AOD1.

With reference to the third aspect, in certain implementations of the third aspect, the first indication information is carried in channel state information.

With reference to the third aspect, in certain implementations of the third aspect, the channel state information further includes, but is not limited to: precoding matrix indicator PMI, channel quality indicator CQI, and rank indicator RI of channel matrix.

In a fourth aspect, a method for positioning a single anchor point under multipath is provided, which is applied to a reference node, and includes: transmitting a first positioning measurement reference signal, wherein the first positioning measurement reference signal is transmitted to a node to be positioned through N transmission paths, and N is an integer larger than 1; receiving first indication information and a second positioning measurement reference signal sent by the node to be positioned, wherein the first indication information is used for indicating first intermediate information, the first intermediate information comprises a Discrete Fourier Transform (DFT) base vector corresponding to a first transmission path in a precoding sub-matrix, and the first transmission path belongs to one transmission path in the N transmission paths; and measuring second positioning information by utilizing the first intermediate information according to the first indication information.

With reference to the fourth aspect, in some implementations of the fourth aspect, the first indication information is used to indicate the first intermediate information, including: the first indication information includes representation information of a DFT basis vector corresponding to the first transmission path in the precoding sub-matrix.

With reference to the fourth aspect, in some implementations of the fourth aspect, the first indication information includes representation information of a DFT basis vector corresponding to the first transmission path in the precoding sub-matrix, including: the first indication information includes index information of the DFT basis vector.

With reference to the fourth aspect, in some implementations of the fourth aspect, the precoding submatrix is a submatrix composed of frequency domain discrete fourier transform DFT basis vectors; or the precoding submatrix is a submatrix formed by space-domain and frequency-domain two-dimensional Discrete Fourier Transform (DFT) base vectors.

With reference to the fourth aspect, in some implementations of the fourth aspect, the first transmission path is a first path or a strongest path that is resolved after the DFT projection, where a transmission delay of the first positioning measurement reference signal on the first path is minimum and an attenuation of the first positioning measurement reference signal on the strongest path is minimum.

With reference to the fourth aspect, in some implementations of the fourth aspect, the measuring second positioning information according to the first measurement information includes: recording the arrival time T4 of the second positioning measurement reference signal; and measuring an arrival angle AOA2 of the second positioning measurement reference signal.

With reference to the fourth aspect, in certain implementations of the fourth aspect, the method further includes: recording a transmission time T1 of the first positioning measurement reference signal; and/or measuring an emission angle AOD2 of the first positioning measurement reference signal.

With reference to the fourth aspect, in certain implementations of the fourth aspect, the method further includes: transmitting fourth positioning information to a positioning service node, wherein the fourth positioning information comprises second time information; or, the fourth positioning information includes second time information and second angle information; wherein the second time information includes: an arrival time T4 of the second positioning measurement reference signal and a transmission time T1 of the first positioning measurement reference signal; or, a difference value T4-T1 between the arrival time T4 of the second positioning measurement reference signal and the transmission time T1 of the first positioning measurement reference signal; the second angle information includes: the arrival angle AOA2 of the second positioning measurement reference signal; and/or the first positioning measures an emission angle AOD2 of the reference signal.

With reference to the fourth aspect, in some implementations of the fourth aspect, the first indication information is carried in channel state information.

With reference to the fourth aspect, in certain implementations of the fourth aspect, the channel state information further includes, but is not limited to: precoding matrix indicator PMI, channel quality indicator CQI, and rank indicator RI of channel matrix.

In a fifth aspect, a method for positioning a single anchor point under multipath is provided, which is applied to a positioning service node, and includes: receiving third positioning information sent by a positioning node and fourth positioning information sent by a reference node, wherein the third positioning information and the fourth positioning information respectively comprise positioning information obtained by the node to be positioned and the reference node based on a first transmission path, or the third positioning information and the fourth positioning information respectively comprise positioning information obtained by the node to be positioned and the reference node based on the same first intermediate information, and the first intermediate information comprises a DFT base vector; and positioning the node to be positioned according to the third positioning information and the fourth positioning information.

With reference to the fifth aspect, in certain implementations of the fifth aspect, the third positioning information includes first time information; alternatively, the third positioning information includes first time information and first angle information; wherein the first time information includes: an arrival time T2 of the first positioning measurement reference signal and a transmission time T3 of the second positioning measurement reference signal; or, a difference value T3-T2 between the transmission time T3 of the second positioning measurement reference signal and the arrival time T2 of the first positioning measurement reference signal; wherein the first positioning measurement reference signal is sent by the reference node, and the second positioning measurement reference signal is sent by the node to be positioned; the first angle information includes: the first positioning measures an arrival angle AOA1 of a reference signal; and/or, the second positioning measures an emission angle AOD1 of the reference signal.

With reference to the fifth aspect, in certain implementations of the fifth aspect, the fourth positioning information includes second time information; or, the fourth positioning information includes second time information and second angle information; wherein the second time information includes: an arrival time T4 of the second positioning measurement reference signal and a transmission time T1 of the first positioning measurement reference signal; or, a difference value T4-T1 between the arrival time T4 of the second positioning measurement reference signal and the transmission time T1 of the first positioning measurement reference signal; wherein the first positioning measurement reference signal is sent by the reference node, and the second positioning measurement reference signal is sent by the node to be positioned; the second angle information includes: the arrival angle AOA2 of the second positioning measurement reference signal; and/or the first positioning measures an emission angle AOD2 of the reference signal.

With reference to the fifth aspect, in some implementations of the fifth aspect, the obtaining positioning information of the node to be positioned according to the third positioning information and the fourth positioning information includes: determining round trip time according to the first time information and the second time information; calculating positioning information of the node to be positioned according to the round trip time and AOA1 in the first angle information and AOD2 in the second angle information; or calculating the positioning information of the node to be positioned according to the round trip time and the AOD1 in the first angle information and the AOA2 in the second angle information; or calculating the positioning information of the node to be positioned according to the round trip time, the weighted values of AOA1 and AOD1 in the first angle information and AOA2 in the second angle information; or calculating the positioning information of the node to be positioned according to the round trip time, the weighted values of AOA1 and AOD1 in the first angle information and AOD2 in the second angle information; or calculating the positioning information of the node to be positioned according to the round trip time, the weighted values of AOA1 and AOD1 in the first angle information and the weighted values of AOA2 and AOD2 in the second angle information; or calculating the positioning information of the node to be positioned according to the round trip time and the weighted values of AOA1 in the first angle information and AOA2 and AOD2 in the second angle information; or calculating the positioning information of the node to be positioned according to the round trip time and the weighted values of AOD1 in the first angle information and AOA2 and AOD2 in the second angle information.

In a sixth aspect, there is provided a communication device comprising at least one processor, a communication interface for information interaction by the communication device with other communication devices, and a memory storing computer program instructions which, when executed in the at least one processor, cause the communication device to implement a method as described in any of the first to fifth aspects, the functions at any node of: the node to be positioned, the reference node and the positioning service node.

In a seventh aspect, there is provided a computer program readable storage medium having program instructions which, when executed directly or indirectly, cause the function of a method as described in any one of the first to fifth aspects to be carried out at any one of the following nodes: the node to be positioned, the reference node and the positioning service node.

In an eighth aspect, there is provided a chip system comprising at least one processor, wherein program instructions, when executed in the at least one processor, cause the method according to any one of the above-mentioned first to fifth aspects to be implemented as a function on any one of the following devices: the node to be positioned, the reference node and the positioning service node.

A ninth aspect provides a computer program which, when executed in at least one processor, causes the method as described in any one of the first to fifth aspects to be carried out at any one of the following nodes: the node to be positioned, the reference node and the positioning service node.

In a tenth aspect, there is provided a computer program product which, when executed in at least one processor, causes the method as described in any of the first to fifth aspects to be carried out at any node as follows: the node to be positioned, the reference node and the positioning service node.

Drawings

Fig. 1 is a schematic diagram of angle information and distance information under multipath provided in an embodiment of the present application.

Fig. 2 is a schematic diagram of a system architecture for single anchor point positioning under multipath according to an embodiment of the present application.

Fig. 3 is a flowchart of a method for positioning a single anchor point under multipath according to an embodiment of the present application.

Fig. 4 is a flowchart of another method for positioning a single anchor point under multipath according to an embodiment of the present application.

Fig. 5 is a flow chart of another method for positioning a single anchor point under multipath according to an embodiment of the present application.

Fig. 6 is a schematic diagram of a channel state information structure provided in an embodiment of the present application.

Fig. 7 is a schematic diagram of another channel state information structure provided in an embodiment of the present application.

Fig. 8 is a schematic structural diagram of a communication node provided in an embodiment of the present application.

Fig. 9 is a schematic structural diagram of another communication node provided in an embodiment of the present application.

Fig. 10 is a schematic structural diagram of yet another communication node provided in an embodiment of the present application.

Fig. 11 is a schematic structural diagram of a communication device provided in an embodiment of the present application.

Detailed Description

Embodiments of the present application are described below with reference to the accompanying drawings in the embodiments of the present application. The terminology used in the description of the embodiments of the application is for the purpose of describing particular embodiments of the application only and is not intended to be limiting of the application. In the description of the embodiments of the present application, unless otherwise indicated, "/" means or, for example, a/B may represent a or B; "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality" means two or more, and "a multipath" means two paths or more.

The terms "first" and "second" are used below for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying an implicit indication of the number of technical features indicated. Thus, a definition of "a first", "a second" feature may explicitly or implicitly include one or more of such features.

The technical solution of the embodiment of the application can be used for various communication systems, for example: cellular positioning system, wireless local area network (wireless local area networkz, WLAN) system, long term evolution (long term evolution, LTE) system, LTE frequency division duplex (frequency division duplex, FDD) system, LTE time division duplex (time division duplex, TDD), universal mobile telecommunications system (universal mobile telecommunication system, UMTS), worldwide interoperability for microwave access (worldwide interoperability for microwave access, wiMAX) telecommunications system, fifth generation (the 5) ^th generation, 5G) mobile communication system or New Radio (NR) system, etc.

The node to be located in the embodiment of the present application is a communication device with wireless transceiving function and NR transmission capability, and may represent a redistribution point (redistribution point) or a communication endpoint (such as a terminal device). The node to be located may be, for example, a user equipment UE, a terminal device, a terminal, a wireless communication device, a user agent or a user equipment. The node to be located may also be a cellular telephone, a cordless telephone, a session initiation protocol (session initiation protocol, SIP) phone, a wireless local loop (wireless local loop, WLL) station, a personal digital assistant (personal digital assistant, PAD), a handheld device with wireless communication capabilities, a computing device or other processing device connected to a wireless modem, an in-vehicle device, a wearable device, a terminal device in a 5G cellular network or a terminal device in a public land mobile network (public land mobile network, PLMN). From the aspect of product morphology, the node to be located in the embodiment of the present application may be a device supporting an NR air interface, in particular, a terminal device, such as a mobile phone, a computer, a tablet, a bracelet, a smart watch, a data card, a sensor, and the like. In the embodiment of the present application, the node to be located is taken as an example of UE, but the present application is not limited thereto.

The reference node in the embodiment of the application can be used as a positioning anchor point to position the UE. From a functional point of view, a reference node is a device with control functionality, capable of configuring positioning measurement resources and with support for NR connections; the reference node has multi-antenna capability (number of antennas greater than or equal to 3). From a product form point of view, the reference node of the present application may be, for example, a next generation base station node (next generation node base, gNB) in a 5G mobile communication system, which may be a macro base station or a micro base station; the reference node may also be a hotspot (pico), a home base station (femto), a transmission point (transmission point, TP), a relay (relay), etc. The embodiment of the present application is described taking the reference node gNB as an example, but the present application is not limited thereto.

The location service node in the embodiment of the present application may be a core network device, such as a location server (LCS), including a location management function (location management function, LMF) entity, etc., configured to perform location estimation based on data reported by a node to be located and location information reported by a reference node.

With the development of intelligence, more and more scenes need to rely on accurate positioning. The third generation partnership project (3rd generation partnership project,3GPP) standard TS 22.804positioning service performance requirement in vertical domain defines a class 8 positioning scenario, the positioning requirements of which include absolute positioning and relative positioning requirements, the positioning accuracy requirements covering from 5 meters to 20 centimeters, and the requirements for reliability of 90% -99.9% also being raised. In the research phase (SI) of Rel-17 NR Positioning in 3gpp ran#86 conference, the goals are: in a general commercial scene, the positioning precision meets the sub-meter positioning precision, and the positioning time delay is 100ms; in the industrial Internet (industrial internet of things, IIOT), the positioning accuracy needs to reach 20cm, and the positioning time delay needs to reach 10 ms. Based on such requirements, the 3GPP standards are actively conducting standardization work, including wireless positioning technology (radio access technology (RAT) dependent positioning) based on 3GPP cellular network, positioning technology (global navigation satellite system, GNSS) based on satellite positioning, positioning technology based on non-3 GPP terrestrial network, such as: wireless fidelity (wireless fidelity, wi-Fi) positioning, bluetooth positioning, terrestrial beacon system (terrestrial beacon system, TBS) positioning, ultra Wideband (UWB) positioning, and hybrid positioning techniques, among others.

Regardless of the positioning technique, multipath interference, clock synchronization errors, and the need for rich positioning anchors (3 and more anchors) can become key factors limiting positioning accuracy. The synchronization error in the positioning process includes synchronization errors between multiple anchor points such as a base station/satellite/Access Point (AP), and synchronization errors between an anchor point (base station/satellite/AP) and a User Equipment (UE) to be positioned. The observation time difference (observed time difference of arrival, OTDOA) technology can effectively solve the problem of synchronization deviation between the positioning anchor point and the positioning UE by measuring the arrival observation time difference of different anchor points by the UE, but requires strict synchronization between the anchor points, otherwise, the positioning accuracy is poor; and a multi-round trip time (multi-RTT) estimates RTT between the UE and a plurality of anchors by transmitting and receiving signals and estimates the position of the UE using a trilateration algorithm, wherein the advantage of using RTT to estimate the distance location between the anchor and the UE is that synchronization errors between anchors do not need to be considered, but the disadvantage is that additional positioning measurement reference signals need to be used, thereby increasing resource overhead.

In addition, since most of the existing positioning technologies are based on trilateration or triangulation, the number of related anchors is required to be 3 or more, which may lead to an increase in deployment cost and insufficient anchors under the constraint of frequency efficiency. Taking cellular positioning as an example, two major limiting constraint factors exist in multi-anchor positioning are: (1) The frequency spectrum of a cell considered during the deployment of the base station is maximized (the same frequency interference is controlled), so that a large number of areas exist, and only 1-2 cells can be seen; (2) uncertainty of base station position (antenna position). Thus, if single anchor/single station positioning can be achieved, this is very advantageous for ease of use and cost of cellular positioning.

In addition, multipath effects and signal shadowing are major factors affecting the accuracy of time of arrival (TOA)/time difference of arrival (time difference of arrival, TDOA) measurements. Although the time resolution of the time domain is higher as the bandwidth of the wireless positioning system is wider, the resolution after the correlation processing of the multipath signals is higher, the problem of positioning errors caused by multipath is still unavoidable. Multipath influence during signal propagation can cause that a receiver cannot distinguish line of sight (LOS) from non line of sight (NLOS), and correlation peaks shift during processing, so that TOA estimation errors occur; or, the direct path is blocked in the signal propagation process, and the receiver receives reflected, refracted and diffracted wireless signals, which also causes the TOA measurement to deviate; or, the result of the correlation processing is lower than the threshold and is not available due to the weak direct path signal, so that accurate TOA data cannot be obtained.

In order to eliminate the influence of multipath effects on positioning, related technologies are: (1) The sensitivity and the dynamic range of the system are improved, and the multipath error is reduced due to the fact that the tolerance of the radio frequency front end with the large dynamic range to noise interference is larger. But this approach requires relatively high hardware requirements for the device. (2) The LOS path and the NLOS path of the channel are identified, and weighting processing is performed in the positioning calculation. But this approach requires the receiver to be able to accurately resolve the LOS/NLOS path. (3) The positioning error caused by the NLOS path is directly corrected. However, this method requires knowledge of the angles of the obstacle reflection, refraction, diffraction signals, and adopts optical principles and plane geometry to convert the NLOS propagation path into equivalent LOS propagation.

In order to eliminate the influence of multipath effect on positioning and solve the problem of insufficient positioning resources of multiple anchor points, a single anchor point positioning technology is proposed in the industry, namely, the UE positioning can be realized only by one anchor point without simultaneously participating in positioning by a plurality of anchor points, thereby eliminating the problems of synchronous errors among the anchor points and insufficient positioning resources of the anchor points and simultaneously reducing the cost of network deployment. The instant positioning and mapping (simultaneously localization and mapping, SLAM) is a single anchor point positioning technology which is widely researched, and a target to be positioned is autonomously positioned and navigated by creating a map under the condition that the position of the target to be positioned is uncertain to the environment position and utilizing the map. The advantage of SLAM is that a single node can calculate the relative position itself as well as the position of the reflector without having to perform coordination between multiple nodes in OTDOA positioning, thus achieving single anchor positioning. In addition, researchers have proposed using angle of arrival (AOA) and TOA of LOS path and reflection path to estimate UE position, and to assist single anchor positioning by multipath information. In addition, simultaneous position estimation and reflection estimation (simultaneously position and reflector estimation, SPRE) is also a more typical single anchor positioning method. Using the sple algorithm, the estimation of UE position and reflector position can be divided into the following three steps: 1. firstly, acquiring rough position information of UE by using measurement AOA (Angle of arrival) and TOA of LOS path; 2. estimating the positions of the reflectors based on the estimated coarse positions and refining them using an average filtering method; 3. the UE current location estimate is updated based on the refined reflector locations.

In the positioning method based on the multipath auxiliary single anchor point, the precondition of being capable of realizing high-precision positioning comprises the following steps: 1. the receiving end and the transmitting end can distinguish LOS paths and NLOS paths, and TOA measurement or RTT measurement is carried out based on the distinguished LOS paths; 2. the receiving end and the transmitting end at least need to have one end with multi-antenna capability (more than or equal to 3 antennas), so that AOA or emission angle (angle of departure, AOD) estimation can be carried out, and hybrid positioning can be carried out by combining TOA on the LOS path. However, in practical systems, in performing multipath recognition, the conventional multi-signal classification algorithm (multiple signal classification, MUSIC) and the rotation invariant subspace algorithm (estimation of signal parameters via rotation invariant technique, ESPRIT) may cause non-ideal wide and narrow beams to affect the AOA/AOD estimation accuracy due to noise problems and bandwidth problems of the transmitting end and the receiving end. In addition, in the distance measurement based on the geometric positioning algorithm, the first path with the minimum signal transmission delay is generally adopted as the distance representation from the anchor point to the object to be measured, but the LOS path is blocked due to some reasons in the actual scene, so that the NLOS path is estimated to be the LOS path, and the positioning estimation error is larger.

In an ideal multipath environment, the first path is generally the direct path, the corresponding signal transmission delay is minimum (TOA is minimum), the signal strength is highest, and if the angle information and the positioning information of the positioning are measured by the first path, the obtained positioning information is the most accurate.

However, in an actual multipath environment, due to the influence of the shielding object, the signal of the first path is greatly attenuated in the transmission process, so that the signal strength of the first path is not necessarily strongest, and at this time, the first path and the strongest path of the signal (hereinafter referred to as the strongest path) are two different paths. Exemplary, as shown in fig. 1, the angle information and the distance information corresponding to the first path and the strongest path are shown. Wherein θ ₁ Is an AOD of the first-pass,

AOA, R as the first diameter ₁ Distance information corresponding to TOA. θ ₂ AOD, which is the strongest path with the least signal attenuation,>

AOA of the strongest diameter, +.>

Corresponding to the distance between the emitting end and the reflector in the strongest path, < > and the reflector in the strongest path>

And the distance information between the reflector and the receiving end in the strongest path is corresponding.

It should be appreciated that, since the stronger the signal strength, the smaller the corresponding angle estimation error, more accurate angle information can be obtained based on the strongest path; the smaller the TOA, the closer to the direct path, so that more accurate distance information can be obtained based on the first path. In addition, as the background technology is said, if the consistency of the ranging information and the angle information between the anchor point and the UE cannot be ensured in the multipath positioning environment, the accuracy of single anchor point positioning cannot be ensured, so in order to obtain more accurate positioning information in the single anchor point positioning in the multipath scene, the consistency of the ranging information measurement and the angle information measurement in the positioning measurement process needs to be maintained, namely, the ranging and the angle measurement are performed based on the same path. This requires a choice between the first and strongest paths, balancing accurate distance information measurements against accurate angle information measurements, achieving accurate positioning.

In order to meet the above requirements, the embodiment of the application provides a method for positioning a single anchor point under multipath, which indicates to a reference node which path the measured positioning information corresponds to through the node to be positioned, so that the reference node and the node to be positioned also measure the positioning information based on the same path, thereby ensuring the consistency of distance information and angle information and realizing high-precision positioning.

Exemplary, as shown in fig. 2, a schematic diagram of a system architecture for single anchor point positioning under multipath is shown in the embodiment of the present application.

In some embodiments, the reference node may be a positioning anchor point in the positioning process, and may be capable of sending a downlink positioning measurement reference signal to the target node, for example: positioning reference signals (positioning reference signal, PRS), channel state information reference signals (channel state information reference signal, CSI-RS), time-frequency domain tracking reference signals (time/frequency tracking signal, TRS), and so on.

In some embodiments, the node to be located may send an uplink positioning measurement reference signal, for example: sounding reference signals (sounding reference signal, SRS), etc. The node to be located may also support NR transmission capabilities.

In some embodiments, the system architecture may further include a positioning service node, where the positioning service node may initiate a single anchor positioning procedure according to a request of the node to be positioned, and position the node to be positioned according to positioning information reported by the node to be positioned and the reference node. In this embodiment of the present application, the location service node may be an LMF entity in the location server.

For ease of understanding, in the system architecture shown in fig. 2, the node to be located is a user equipment, and the reference node is a base station. In addition, the method for positioning the single anchor point under the multipath can be applied to various scenes of positioning of terminal equipment. For example, in an outdoor scenario, the user locates his or her own position, which is not limited in this application.

Exemplary, as shown in fig. 3, a schematic flowchart of a method for positioning a single anchor point under multipath is provided in an embodiment of the present application. The method may be applied to the system architecture shown in fig. 2, and may include the following steps, where each step may be performed by a node to be located:

s301, receiving a first positioning measurement reference signal transmitted via N transmission paths, the first positioning measurement reference signal being transmitted by a reference node, N being an integer greater than 1.

In some embodiments, the reference node transmits a positioning measurement reference signal. The positioning measurement reference signals may include, but are not limited to: one or more of PRS, CSI-RS, TRS.

It is understood that multipath propagation of signals may be caused by scattering of electric waves by the atmosphere, reflection and refraction of electric waves by the ionosphere, and reflection of electric waves by land objects such as mountains, buildings, etc. existing in the actual environment. The N transmission paths herein refer to a plurality of transmission paths in a multipath propagation environment. The positioning measurement reference signals sent by the reference nodes can be respectively transmitted to the nodes to be positioned through the N transmission paths.

In some embodiments, the N output paths include a first path and a strongest path. The first reach path is the transmission path with the minimum delay of the reference signal measured by the designated position; the strongest path is the path where the attenuation of the reference signal is least, in other words, the path where the signal power of the reference signal is strongest.

In some embodiments, the reference node records the transmission time T1 of the first positioning measurement reference signal when transmitting the first positioning measurement reference signal. Optionally, the transmission time T1 corresponds to a time when the first positioning measurement reference signal is transmitted by the transmission antenna of the reference node.

In some embodiments, the reference node may further send time-frequency domain indication information to the node to be positioned, indicating that the node to be positioned receives the first positioning measurement reference signal on the specified time-frequency domain.

In some embodiments, the node to be located receives a first positioning measurement reference signal transmitted by a reference node on a specified time-frequency domain. Meanwhile, the node to be positioned records the arrival time T2 of the first positioning measurement reference signal. Optionally, the arrival time T2 corresponds to a time when the first positioning measurement reference signal arrives at the receiving antenna of the node to be positioned.

Illustratively, the node to be located may record the arrival time of the first positioning measurement reference signal on each transmission path separately; alternatively, the node to be located may record at least the arrival times of the first positioning measurement reference signals on the first and strongest paths.

S302, measuring first positioning information according to a first positioning measurement reference signal on a first transmission path, wherein the first transmission path is one of N transmission paths.

The first transmission path is any one of N transmission paths. Optionally, the first transmission path is an initial path; or the first transmission path is the strongest path; alternatively, the first transmission path may be both the first and strongest paths.

In some embodiments, the first positioning information includes, but is not limited to: the arrival time T2 of the first positioning measurement reference signal, the arrival angle AOA1 of the first positioning measurement reference signal, and the reference signal received power (reference signal receiving power, RSRP) of the first positioning measurement reference signal.

S303, sending first indication information and a second positioning measurement reference signal to the reference node, wherein the first indication information is used for indicating the first transmission path so that the reference node measures the second positioning information on the first transmission path.

In some embodiments, the second positioning measurement reference signal is an uplink measurement reference signal, which may include, but is not limited to: and (3) SRS.

In some embodiments, the first indication information may be, for example, multipath indication information (channel multipath indicator, CMPI). The first indication information may be carried in a channel state information report (CSI reporting).

For example, when the antenna capability of the node to be located is strong (for example, the number of antennas is greater than or equal to 3), and the processing capability (for example, the computing capability) is strong, so that the node to be located has multi-path resolution capability, the first indication information may be indication information of the first transmission path, which is used for measuring the transmission path corresponding to the first measurement location information.

It should be understood that by sending the first indication information to the reference node, the reference node can measure the positioning information based on the same transmission path, so that the positioning information measured by the reference node and the node to be positioned are ensured to be the positioning information on the same transmission path, and the accuracy of the positioning information is improved, thereby improving the positioning accuracy.

In some embodiments, the node to be located may also acquire the emission angle AOD1 of the second positioning measurement reference signal.

In some embodiments, the node to be located may report third location information to the location service node, where the third location information is used for the location service node to locate the node to be located. The third positioning information includes, for example, first time information; alternatively, the third positioning information includes first time information and first angle information. The first time information comprises an arrival time T2 of the first positioning measurement reference signal and a sending time T3 of the second positioning measurement reference signal; alternatively, the first time information includes a difference T3-T2 between a transmission time T3 of the second positioning measurement reference signal and an arrival time T2 of the first positioning measurement reference signal. The first angle information may include an angle of arrival AOA1 of a first positioning measurement reference signal; and/or the second positioning measures the emission angle AOD1 of the reference signal.

In some embodiments, the reference node receives the first indication information and the second measurement reference signal sent by the node to be located, where the first indication information and the second measurement reference signal may be sent simultaneously or not simultaneously, and when the first indication information and the second measurement reference signal are not sent simultaneously, the sending time sequence of the first indication information and the second measurement reference signal is not limited in this application. For example, the reference node may receive CSI-reporting sent by the node to be located, and learn, according to CMPI indication information included in the CSI-reporting, a transmission path corresponding to the first positioning information measured by the node to be located.

In some embodiments, the reference node measures second positioning information corresponding to the first transmission path based on the indication information of the first transmission path.

Wherein the second positioning information includes: the arrival time T3 of the second positioning measurement reference signal and the arrival angle AOA2 of the second positioning measurement reference signal.

In some embodiments, the reference node receives a second positioning measurement reference signal sent by the node to be positioned on a designated time-frequency domain, and the reference node records the arrival time T4 of the second positioning measurement reference signal. Optionally, the reaching time T4 corresponds to a time when the second positioning measurement reference signal reaches the reference node receiving antenna.

For example, the reference node may record the arrival time of the second positioning measurement reference signal on each transmission path separately; alternatively, the reference node may record at least the arrival times of the second positioning measurement reference signal on the first and strongest paths.

In some embodiments, the reference node reports fourth positioning information to the positioning service node, where the fourth positioning information is used by the positioning service node to locate the node to be located. Illustratively, the fourth location information includes second time information; alternatively, the fourth positioning information includes second time information and second angle information. Wherein the second time information includes an arrival time T4 of the second positioning measurement reference signal and a transmission time T1 of the first positioning measurement reference signal; alternatively, the second time information includes a difference T4-T1 between an arrival time T4 of the second positioning measurement reference signal and a transmission time T1 of the first positioning measurement reference signal. The first angle information includes a reflection angle AOA2 of the first positioning measurement reference signal; and/or the second positioning measures the angle of arrival AOD2 of the reference signal.

According to the method for positioning the single anchor point under the multipath, the reference node can measure the positioning information based on the same transmission path by sending the indication information of the transmission path corresponding to the positioning information measured by the node to be positioned to the reference node, so that the positioning information measured by the reference node and the node to be positioned are ensured to be the positioning information on the same transmission path, and the accuracy and the positioning precision of the positioning information are improved.

By way of example, fig. 4 shows a schematic flow chart of another multipath single anchor positioning provided by an embodiment of the present application. The method may be applied to the system architecture shown in fig. 2, and may include the following steps, where each step may be performed by a node to be located:

s401, receiving a first positioning measurement reference signal transmitted via N transmission paths, the first positioning measurement reference signal being transmitted by a reference node, N being an integer greater than 1.

S402, measuring first positioning information according to first intermediate information, wherein the first intermediate information comprises a Discrete Fourier Transform (DFT) base vector corresponding to a first transmission path in a precoding sub-matrix, and the first transmission path belongs to one of the N transmission paths.

S403, sending first indication information and a second positioning measurement reference signal to the reference node, wherein the first indication information is used for indicating the first intermediate information, so that the reference node measures the second positioning information according to the first intermediate information indicated by the first indication information.

It should be understood that, unlike the method for positioning a single anchor point under multipath shown in fig. 3, the method shown in fig. 4 may be suitable for a scenario where a node to be positioned cannot distinguish multipath, for example, when the antenna capability of the node to be positioned is weak (for example, the number of antennas is less than 3) or the processing capability (for example, the computing capability) is weak, the super-resolution algorithm or the multiple signal classification algorithm cannot be directly used to directly distinguish multipath from a signal. To avoid repetition, the following description will be made only with respect to the differences between the embodiment of fig. 4 and the embodiment of fig. 3.

Through the analysis, when the node to be positioned cannot distinguish the multipath, the node to be positioned cannot directly indicate which transmission path to select to measure the positioning information to the reference node. At this time, the node to be located cannot directly measure the positioning information according to a certain transmission path. Therefore, in this case, the node to be positioned may measure the first positioning information according to measurement information corresponding to a certain discrete fourier transform (discrete fourier transform, DFT) basis vector and instruct the reference node to measure the second positioning information based on the same measurement information, so that the first positioning information and the second positioning information complete the measurement under the DFT basis vector of the same precoding sub-matrix. The positioning accuracy is guaranteed under the multipath environment.

Wherein the DFT basis vector in the examples of the present application may also be referred to as DFT beam.

In some embodiments, in step S402, the first intermediate information may include DFT basis vectors corresponding to the first transmission paths in the precoding sub-matrix. The precoding sub-matrix is formed by projecting DFT base vectors of the first transmission path. It should be understood that the precoding matrix in the embodiments of the present application may be a frequency domain DFT vector selected by the node to be located in the basic frequency domain or the basic spatial domain and the set of frequency domain vectors, or a matrix formed by the spatial domain and the frequency domain DFT vectors.

It should also be understood that the DFT basis vector corresponding to the first transmission path in the precoding sub-matrix in the embodiment of the present application may be: in association with the first transmission path, the first positioning measurement reference signal on the first transmission path can be projected to the time delay domain, or projected vectors on the time delay domain and the angle domain. That is, the first positioning measurement signal on the first transmission path may be projected to the time delay domain by the frequency domain DFT basis vector, or the first positioning measurement signal on the first transmission path may be projected to the time delay domain and the angle domain by the frequency domain and the spatial domain two-dimensional DFT basis vector, respectively.

In some embodiments, in step S403, the first indication information may be used to indicate first intermediate information, for example, the first indication information may be used to indicate a DFT basis vector corresponding to the first transmission path.

For example, the first indication information may include identification information of the DFT basis vector; alternatively, the first indication information may include index information of the DFT basis vector. For example, index information of a frequency domain discrete fourier transform DFT basis vector, or index information of a spatial and frequency domain two-dimensional discrete fourier transform DFT basis vector.

According to the method for positioning the single anchor point under the multipath, the reference node can measure the positioning information based on the DFT base vector in the same precoding sub-matrix by sending the first indication information to the reference node, so that the positioning information measured by the reference node and the positioning node to be positioned is the positioning information corresponding to the transmission path under the projection of the same DFT base vector, the accuracy of the positioning information is improved, and the positioning accuracy is improved.

Fig. 5 is a schematic diagram of an interaction flow among a node to be located, a reference node, and a location service node in a single anchor point location process under multipath according to an embodiment of the present application.

In order to facilitate understanding, the single anchor positioning process under multipath provided by the embodiment of the application is specifically divided into two stages, wherein the first stage is an information configuration stage before positioning measurement, and the second stage is a positioning information measurement and reporting stage.

Illustratively, stage one includes the steps of:

s501, the node to be positioned sends a positioning request to a positioning service node.

The node to be positioned can send a positioning request message to the positioning service node, and the positioning request message is used for requesting positioning to the positioning service node.

S502, the positioning service node sends positioning request response information to the node to be positioned.

After receiving the positioning request, the positioning service node (such as a positioning management function LMF in a positioning server LCS) starts to initiate a single anchor point or single base station cellular positioning procedure.

In some embodiments, the location service node, after determining the single anchor location, may request a query for the location capabilities of the node to be located. In particular, the location service node may send location capability request information to the node to be located, which may be included in the location request reply message.

In some embodiments, the location service node may also request to query the reference node for location capabilities. In particular, the location service node may send location capability request information to the node to be located.

The positioning capability here may include antenna capability, such as the number of antennas, etc. It should be appreciated that when the antenna capability of the reference node is strong, such as the number of antennas is greater than or equal to 3, more accurate angle information may be obtained based on the received positioning measurement reference signal; likewise, if the antenna capacity of the node to be positioned is strong, more accurate angle information can be obtained, and the accuracy of the positioning information is improved.

S503 (a), the node to be located sends the location capability to the location service node.

Illustratively, the node to be located responds to the location capability request of the location service node and feeds back the location capability of the node to be located to the location service node.

S503 (b), the reference node sends the positioning capability to the positioning service node.

Illustratively, the reference node feeds back its positioning capabilities to the positioning service node in response to the positioning service node's positioning capability request.

In some embodiments, the positioning service node may select an appropriate single anchor positioning method according to positioning capabilities reported by the node to be positioned and the reference node respectively. For example, when the antenna capacities of the node to be positioned and the reference node are both strong (the number of antennas is greater than or equal to 3), determining to adopt an rtt+aod hybrid positioning method, or an rtt+aoa hybrid positioning method, or a toa+aod hybrid positioning method, or a toa+aoa hybrid positioning method, etc.; when the positioning capability of the reference node is strong and the positioning capability of the node to be positioned is weak, an rtt+reference node calculated AOA/AOD hybrid positioning method, or a toa+reference node calculated AOA/AOD hybrid positioning method may be used.

S504, the positioning service node sends positioning auxiliary information to the node to be positioned.

Wherein the positioning service node may send positioning assistance data to the node to be positioned via an LTE positioning protocol (LTE positioning protocol, LPP).

For example, the positioning assistance information sent by the positioning service node to the node to be positioned may include downlink positioning measurement reference signal configuration information and uplink positioning measurement reference signal configuration information. The downlink positioning measurement reference signal includes: PRS, CSI-RS, TRS, etc.; the uplink positioning measurement reference signal includes an SRS.

S505 (a), the location service node transmits a location measurement request to the reference node.

S505 (b), the location service node sends a location measurement request to the node to be located.

It should be understood that the order of the positioning measurement requests sent by the positioning service node to the reference node and the node to be positioned may not be limited to the order shown in fig. 5, for example, the positioning service node may send the positioning measurement request to the node to be positioned first and then send the positioning measurement request to the reference node; alternatively, the positioning server may send the positioning measurement request to the node to be positioned and the reference node at the same time, which is not limited in this application.

After the to-be-positioned node and the reference node receive the positioning measurement signal of the positioning service node, measurement and reporting of positioning information can be performed (i.e. stage two in fig. 5), which specifically includes the following steps:

s506, the reference node measures a reference signal to the first positioning of the node to be positioned.

Wherein the first positioning measurement reference signal includes, but is not limited to: PRS, CSI-RS, TRS.

In some embodiments, the reference node may send the indication information of the time-frequency resource to the node to be located before sending the first positioning measurement reference signal to the node to be located, so that the node to be located receives the first positioning measurement reference signal on the specified time-frequency resource.

It should be appreciated that the first positioning measurement reference signal may be transmitted to the node to be positioned via N transmission paths, N being an integer greater than 1. The N transmission paths may include a first path and a strongest path, where the first path is a path with a minimum signal delay, and the strongest path is a path with a minimum signal attenuation, that is, a path with a strongest signal strength.

In some embodiments, the first and strongest paths are the same transmission path; in other embodiments, the first and strongest paths are two different transmission paths due to the influence of a shroud or the like.

S507, the node to be positioned calculates first positioning information on the first transmission path.

The first transmission path is one of N transmission paths, for example, a first path and/or a strongest path.

In some embodiments, the node to be located receives the first positioning measurement reference signal on the designated time-frequency domain resource according to the indication information of the time-frequency domain resource sent by the reference node.

In some embodiments, the node to be located may calculate the received power of the first location measurement reference signal, obtain the strength of the first location measurement reference signal on different transmission paths.

In some embodiments, the node to be located may select the first transmission path based on a certain criterion to calculate the location information. In order to ensure accuracy of positioning information, the first transmission path in the embodiment of the present application may be the first path or the strongest path, or may be both the first path and the strongest path. For example, when the antenna capability and the computing capability of the node to be positioned are strong, and the node to be positioned can distinguish multipath, the transmission path corresponding to the first positioning measurement reference signal which arrives first can be determined to be the first path based on the arrival time of the first positioning measurement reference signal on each transmission path; the node to be positioned can also determine the transmission path with the strongest signal power as the strongest path according to the intensity of the received first positioning measurement reference signal; and then, the node to be positioned selects the first path or the strongest path to calculate positioning information based on a certain judgment criterion.

The judgment criteria for selecting the first path and the strongest path by the node to be positioned are as follows: and the node to be positioned judges the time delay error and the signal intensity error on the first reaching path and the strongest path, and calculates positioning information by selecting the path with smaller influence on positioning accuracy according to the time delay error and the signal intensity error. For example, since the ranging information of the first path is more accurate, the arrival time of the positioning measurement reference signal on the first path can be used as a reference to judge the deviation of the arrival time of the strongest path, so as to reflect the deviation of the ranging information; the angle information of the strongest path is more accurate, so that the power of the positioning measurement reference signal on the strongest path can be used as a benchmark to judge the error of the signal intensity on the first path, thereby reflecting the error of the angle information. Based on the above criteria, when the node to be positioned judges that the angle error is larger than the ranging error, if the first-reach-path calculation positioning information is selected, the angle error is too large, so that the positioning information error is large, and therefore the strongest-path calculation positioning information can be selected; when the node to be positioned judges that the error of the ranging information is larger than the angle error, if the strongest path is selected to calculate the positioning information, the deviation of the distance information is too large, so that the positioning information error is large, and at the moment, the first path can be selected to calculate the positioning information.

In some embodiments, the node to be located may record the arrival time T2 of the first positioning measurement reference signal on the first transmission path. Alternatively, the arrival time T2 may be the time at which the first positioning measurement reference signal arrives at the node to be positioned receiving antenna.

In some embodiments, the node to be located may calculate the angle of arrival AOA1 of the first transmission path based on a super resolution algorithm or a multi-signal classification algorithm.

And S508, the node to be positioned sends first indication information to the reference node.

The first indication information is used for indicating information of the first transmission path, or the first indication information is used for indicating first intermediate information used when the first positioning information is acquired, and the first intermediate information may include DFT basis vectors corresponding to the first transmission path in the precoding sub-matrix.

It should be understood that the first intermediate information herein may also include other information for measuring the first positioning information, where the first intermediate information has an association relationship with the first transmission path, so that positioning information measured by different nodes based on the first intermediate information can correspond to the same transmission path.

In some embodiments, the first indication information may be multipath indication information CMPI. The first indication information may be carried in CSI report and reported to the reference node.

S509, the node to be positioned sends a second positioning measurement reference signal to the reference node.

Wherein the second positioning measurement reference signal includes, but is not limited to: SRS, etc.

In some embodiments, the node to be located may send the indication of the time-frequency resource to the reference node before sending the second positioning measurement reference signal to the reference node, such that the reference node receives the second positioning measurement reference signal on the specified time-frequency resource.

In some embodiments, the node to be located records the transmission time T3 of the second positioning measurement reference signal when transmitting the second positioning measurement reference signal. Optionally, the transmission time T3 corresponds to a time when the second positioning measurement reference signal is transmitted by the transmission antenna of the node to be positioned.

It should be understood that the sequence of the first indication information and the second positioning measurement reference signal sent by the node to be located to the reference node shown in fig. 5 is only an example, in other words, the illustrated steps S508 and S509 are not the only implementation manner, and various implementation manners may be further included in practical application, for example, the node to be located sends the second positioning measurement reference signal to the reference node on the designated time-frequency resource first, and then sends the first indication information; alternatively, the node to be located sends the first indication information and the second positioning measurement reference signal to the reference node at the same time, which is not limited in this application.

S510, the reference node calculates second positioning information on the first transmission path according to the first indication information.

Wherein the second positioning information includes, but is not limited to: the arrival time T4 of the second positioning measurement reference signal, AOA2 of the first transmission path, etc.

In some embodiments, when the reference node obtains, according to the first indication information, that the transmission path corresponding to the first positioning information calculated by the node to be positioned is the first transmission path, calculating an arrival time T4 of the second positioning measurement reference signal on the first transmission path, an AOA2 corresponding to the first transmission path, and the like; or when the reference node obtains the DFT base vector in the precoding sub-matrix used by the node to be positioned to calculate the first positioning information according to the first indication information, calculating the second positioning information according to the DFT base vector in the same precoding sub-matrix, thereby obtaining the positioning information corresponding to the first transmission path.

S511, the node to be positioned sends third positioning information to the positioning service node.

Wherein the third positioning information includes positioning information calculated by the node to be positioned based on the first transmission path, including but not limited to: t2 and T3; or T3-T2; alternatively, T2, T3, AOA1/AOD1; or T3-T2, AOA1/AOD1, etc.

In some embodiments, the node to be located may report the third location information to the location service node through an LPP message. Optionally, the message may also include CSI-RSPS.

It should be understood that step S511 may also occur after step S507, and, for example, after the node to be located acquires the first positioning information based on the first transmission path, the third positioning information may be acquired according to the first positioning information, and the third positioning information may be reported to the positioning service node. The transmission time of the third positioning information is not limited in the present application.

And S512, the reference node sends fourth positioning information to the positioning service node.

Wherein the fourth positioning information includes positioning information calculated by the reference node based on the first transmission path, including but not limited to: t1 and T4; alternatively, T4-T1; alternatively, T1, T4, AOA2 and/or AOD2; or T4-T1, AOA2 and/or AOD2, etc.

In some embodiments, the reference node may report the fourth location information to the location service node via an NRPPa message. Optionally, the message may also include SRS-RSPS.

In some embodiments, after the positioning service node receives the third positioning information and the fourth positioning information, the positioning information of the node to be positioned may be determined according to the measured values T3-T2 (or T2, T3), AOA1 and/or AOD1 reported by the node to be positioned, and the measured values T4-T1 (or T1, T4), AOA2 and/or AOD2 reported by the reference node. Or the positioning service node can finish the measurement of the AOD2 and the AOA2 according to the reported RSRP of the downlink positioning measurement reference signal and the reported RSRP of the uplink positioning measurement reference signal, and finish the single anchor point mixed positioning.

In particular, regarding time information, the location service node may calculate according to RTT method in 3gpp R16 standard, i.e. rtt= - (R3-R2) + (T4-T1); regarding the angle information, it may be determined either based on the measured angle information AOA2/AOD2 sent by the reference node or based on the measured angle information AOA1/AOD1 sent by the node to be located.

Optionally, when the antenna capacities of the reference node and the node to be positioned are strong enough, both can perform accurate angle measurement, and in this case, in order to further improve the positioning accuracy, the weighted values (such as average value) of AOA1 and AOD1, or the weighted values (such as average value) of AOD2 and AOA2 may be used as optimized angle information, so as to complete hybrid positioning.

In some possible implementations, the positioning service node determines the round trip time RTT from the first time information and the second time information. Then, the positioning service node calculates positioning information of the node to be positioned according to the round trip time and the AOA1 in the first angle information and the AOD2 in the second angle information; or the positioning service node calculates positioning information of the node to be positioned according to the round trip time and the AOA1 in the first angle information and the AOA2 in the second angle information; or the positioning service node calculates positioning information of the node to be positioned according to the round trip time, the weighted values of the AOA1 and the AOD1 in the first angle information and the AOA2 in the second angle information; or the positioning service node calculates positioning information of the node to be positioned according to the round trip time, the weighted value of the AOA1 and the AOD1 in the first angle information and the AOD2 in the second angle information; or the positioning service node calculates positioning information of the node to be positioned according to the round trip time, the weighted values of AOA1 and AOD1 in the first angle information and the weighted values of AOA2 and AOD2 in the second angle information; or the positioning service node calculates the positioning information of the node to be positioned according to the round trip time and the weighted values of the AOA1 in the first angle information and the AOA2 and the AOD2 in the second angle information; or calculating the positioning information of the node to be positioned according to the round trip time and the weighted values of the AOD1 in the first angle information and the AOA2 and the AOD2 in the second angle information.

The specific process of determining the hybrid positioning of the position information of the node to be positioned by the positioning service node according to the reported measurement information can refer to the existing flow, and will not be described herein.

According to the method for positioning the single anchor point under the multipath, the reference node can measure the positioning information based on the same transmission path or the same DFT base vector by sending the indication information of the transmission path corresponding to the positioning information measured by the node to be positioned or the indication information of the DFT base vector in the precoding sub-matrix used for measuring the positioning information to the reference node, so that the positioning information measured by the reference node and the node to be positioned is ensured to be the positioning information on the same transmission path or the positioning information on the transmission path under the projection of the same DFT base vector, and the accuracy and the positioning precision of the positioning information are improved.

It should be appreciated that in addition to sending the first indication information to the reference node, the node to be located needs to send the following information to the reference node: (1) Precoding matrix indication (precoding matrix indicator, PMI), wherein the node to be positioned estimates a channel matrix according to the real-time change condition of the channel, and gives a certain criterion to select a precoding matrix which is most matched with a downlink channel from a codebook, so as to further determine the precoding matrix indication PMI; (2) A channel quality indication (channel quality indicator, CQI), wherein the node to be located can also determine the channel quality after using the PMI according to the determined PMI, i.e. the channel quality indication CQI, which is also fed back as CSI to the network device, such as a location service node; (3) Rank Indicator (RI) of a channel matrix, RI refers to the number of layers of data that a physical channel can carry.

For easy understanding, in the following, in the two scenarios where the node to be located can distinguish between multipath (hereinafter abbreviated as case one) and unresolved multipath (hereinafter abbreviated as case two), the specific content of the first indication information and the structure of CSI will be described.

By way of example, fig. 6 shows a schematic block diagram of channel state information according to an embodiment of the present application.

For case one: it should be understood that when the antenna capability (for example, the number of antennas is greater than or equal to 3) or the processing capability (for example, the computing capability) of the node to be located is relatively strong, the node has relatively strong multipath resolution capability, can distinguish each transmission path of the N transmission paths, and can calculate the arrival time, angle and other positioning information of each transmission path. In this case, the node to be positioned may distinguish the first transmission path (e.g., the first path and the strongest path), and calculate positioning information based on the first transmission path, and then, the node to be positioned may send indication information of the first transmission path to the reference node, so that the reference node also calculates positioning information based on the first transmission path.

Specifically, the indication information of the first transmission path may be multipath indication information CMPI, which is carried in channel state indication information CSI (as shown in fig. 6). Exemplary CSI, shown in fig. 6, includes CQI, RI, PMI and CMPI. Wherein CQI, RI, PMI may be the content existing in the existing standard, for example, the content is the same as that in NR standard version 15 (Rel-15) and NR standard version 16 (Rel-16), and will not be described here again; CMPI is a field newly added in CSI, for the purpose of indicating information of the first transmission path, so that the reference node knows a transmission path corresponding to the positioning information calculated by the node to be positioned, and calculates the positioning information by using the same transmission path, such as TOA2 measurement, AOA2 measurement, and the like.

In some embodiments, CMPI may be characterized by 1 bit of information, e.g., a "0" when the first transmission path is the first path, indicating that the node to be located adopts the first path to measure positioning information; and when the first transmission path is the strongest path, the first transmission path is denoted by '1', and the node to be positioned is indicated to adopt the strongest path to measure positioning information. Or when the first transmission path is the first path, the first transmission path is denoted by 1, and the node to be positioned is indicated to adopt the first path to measure positioning information; and when the first transmission path is the strongest path, the first transmission path is denoted by 0, and the node to be positioned is indicated to adopt the strongest path to measure positioning information.

In some embodiments, after receiving the CSI report, the reference node may parse the CMPI to learn the transmission path indicated by the CMPI, and then complete measurement of positioning information, such as T4, AOA2/AOD2, or T4-T1, AOA2/AOD2, etc., according to the path indicated by the CMPI.

According to the method for positioning the single anchor point under the multipath, the node to be positioned indicates the transmission path selected when the node to be positioned measures the positioning information to the reference node, so that the reference node can measure the positioning information based on the same transmission path, the fact that the node to be positioned and the reference node are both based on the measurement of the positioning information completed by the same transmission path can be ensured, RTT, angle information and the like correspond to the same transmission path, multipath interference is reduced, and therefore more accurate positioning precision is obtained.

For the second case, it should be understood that when the antenna capability of the node to be located is weak (for example, the number of antennas is less than 3) or the processing capability (for example, the computing capability) is weak, the node to be located is insufficient to distinguish each of the N transmission paths. At this time, the node to be positioned may indicate to the reference node the DFT basis vector in the precoding sub-matrix used when measuring the positioning information; the reference node completes the measurement of the positioning information under the same DFT base vector in the same precoding sub-matrix based on the received PMI and the DFT base vector indication information, so that the positioning information measured by the positioning node and the reference node corresponds to the same transmission path, the influence caused by multipath is avoided, and the measurement accuracy of the positioning information is improved.

In order to better understand the method for positioning the single anchor point under the multipath provided by the embodiment of the application, the node to be positioned and the reference node measure positioning information based on the same DFT base vector, so that the probability of multipath interference can be reduced, the positioning accuracy is improved, and the related process is introduced below.

In some embodiments, after the node to be located receives the first positioning measurement reference signals on the N transmission paths, the first positioning measurement reference signals may be projected to a delay domain, or a delay domain and an angle domain, using the DFT basis vector. For example, the node to be positioned performs frequency domain DFT basis vector projection on first positioning measurement reference signals on N transmission paths, and projects the first positioning measurement reference signals to a time delay domain; or the base vectors are projected to a time delay domain and an angle domain by carrying out frequency domain DFT base vector and space domain DFT base vector. Then, the node to be positioned can determine the first reaching diameter based on the time delay domain, or determine the first reaching diameter and the strongest diameter based on the angle domain and the time delay domain; and then selecting the first path or the strongest path to measure positioning information.

It should be understood that after performing DFT base vector projection on the first positioning measurement reference signal, there is an association between the transmission path and the DFT base vector in the precoding sub-matrix, for example, when performing frequency domain DFT base vector projection on the first positioning measurement reference signal, different transmission paths exhibit different delay characteristics on different frequency domain DFT base vectors; or after the first positioning measurement reference signal is respectively projected by the space domain DFT base vector and the frequency domain DFT base vector, different transmission paths show different time delay characteristics and angle characteristics on different frequency domain DFT base vectors and space domain DFT base vectors.

On the premise of the analysis, if the first transmission path is projected to the time delay domain or projected to the time delay domain and the angle domain, the corresponding projection vector is a certain DFT base vector in the first pre-coding sub-matrix, and the node to be positioned selects the DFT base vector to calculate positioning information, the positioning information measured by the node to be positioned is the positioning information on the first transmission path. Therefore, if the node to be positioned sends the indication information of the DFT base vector in the precoding sub-matrix used for calculating the positioning information to the reference node, so that the reference node also calculates the positioning information based on the same DFT base vector/wave beam, the positioning information measured by the reference node can be ensured to be the positioning information corresponding to the transmission path under the projection of the same DFT base vector as the first transmission path, the positioning information calculated by the node to be positioned and the reference node can be ensured to correspond to the same transmission path, and the positioning information can be prevented from being interfered by multipath.

In some embodiments, in order to implement multipath resolution calculation of a node to be positioned and a reference node under DFT basis vectors in the same precoding sub-matrix, when the reference node transmits a downlink measurement reference signal and receives an uplink measurement reference signal, the antenna configuration used by the reference node is the same, and the bandwidths of the downlink positioning measurement reference signal and the uplink positioning measurement reference signal need to be the same, so that the precoding sub-matrix reported by the node to be positioned and the DFT basis vectors and the precoding sub-matrix used by the reference positioning node have the same dimension as the DFT basis vectors, and further, the reference node and the node to be positioned are ensured to finish measurement of positioning information under the same transmission path.

In practical application, the specific implementation flow may include: reference signal when transmitting a downlink positioning measurement reference signal (herein, CSI-RS is taken as an example), CSI-RS outer layer weight weighting may be performed first. Assuming that the CSI-RS signal supports P-port and Q-layer (or stream) transmission, the number of antennas of the reference node is N _BS (N _BS An integer greater than or equal to 3), the outer layer weights

Matrix size N _BS X P, the dimension of the transmitted CSI-RS is N _BS X Q; in passing through channel->

(M _UE The number of antennas for the node to be located), the node to be located receives a signal with dimension M _UE xQ received signal, in use dimension P x M _UE The post-coding matrix of (2) is weighted by outer weights to obtain a P x Q signal. And then, the node to be positioned carries out DFT vector projection on the signals after the outer layer weight is solved, so that a plurality of multipaths are distinguished, and each path corresponds to one DFT base vector in one pre-coding sub-matrix. It should be understood that the outer weights herein are static matrices (or static weights) fixed at the reference node side, and may be used when other weights are not applicable (e.g., channel correction fails, no CSI measurement information is reported upon user access, etc.). Each set of outer weights corresponds to a set of beams.

And then, the node to be positioned performs measurement of information such as T2 and AOA1 on one path, and after the measurement of the positioning information is completed, carries multipath indication information CMPI in CSI report to inform the reference node that the node to be positioned performs positioning information measurement under the DFT base vector in the precoding sub-matrix. The node to be located may then send an uplink positioning measurement reference signal, for example SRS, to the reference node.

And the reference node respectively acquires the CSI report and the uplink positioning measurement reference signal SRS on the designated time-frequency resource. Wherein the dimension of SRS signals after layer mapping at the node side to be positioned is P multiplied by Q, and the outer layer weight is provided

Matrix size N _UE X P, number of transmit antennas of UE N _UE The method comprises the steps of carrying out a first treatment on the surface of the In passing through channel->

(M _BS The number of antennas of the reference node), the reference node receives a number of antennas with dimension M _BS xQ received signal, in use dimension P x M _BS The post-encoding matrix of (2) is weighted by outer weights to obtain a P x Q signal. And then, the reference node carries out DFT vector projection on the signals subjected to outer layer weight solution, and according to the multipath information indication in the CSI report, the reference node uses the DFT base vector which is the same as the node to be positioned to finish the measurement of positioning information such as T4, AOA2 and the like.

In some embodiments, a method for a node to be located to determine a precoding matrix W may include: the node to be positioned determines a physical channel according to a CSI-RS pilot signal issued by network equipment (such as a reference node), and a re-PMI detection algorithm determines W from a predefined precoding matrix group. For data transmission traffic, the principles of determining W may include, but are not limited to: the network device (e.g., reference node) if weighting the data according to the precoding matrix W, the signal-to-noise ratio and/or throughput of the data received by the node to be located is the greatest, and/or spectral efficiency is the highest, etc.

The precoding matrix W may be defined by W ₁ and W₂ Is formed by the product of (a). Wherein W is ₁ Is a block matrix formed by a plurality of DFT base vectors, W ₁ The codebook is broadband and long-term, and meets the following requirements

wherein ,X₁ Consists of K oversampled DFT basis vectors/beams. Wherein W is ₁ The codebook is a codebook associated with multipath and comprises 2K DFT base vectors, wherein K is an integer greater than or equal to 1, and a node to be positioned needs to tell which base vector indication information in the 2K DFT base vectors is used by the node to be positioned to the positioning reference node.

The node to be located may send a PMI indicating precoding matrix to the reference node. The PMI comprises two parts of contents of PMI1 and PMI2, wherein PMI1 is used for indicating a precoding matrix W ₁ PMI2 is used to indicate W ₂ All elements of (3). In the second case, the CMPI carries the base vector/beam indication information in the precoding sub-matrix W1, which specifically means that the CMPI carries specific base vector information of the K DFT base vectors in the W1 associated with multipath.

It should be understood that, due to the selection principle of the precoding sub-matrix composed of the DFT basis vectors for measuring the positioning information, the delay of the TOA1 is minimized and/or the RSRP of the first positioning measurement reference signal is maximized; the selection principle of the precoding sub-matrix used for precoding data in data transmission is mainly to maximize the signal-to-noise ratio, or maximize the throughput, or maximize the spectrum efficiency, etc. Therefore, even though the precoding sub-matrix used for estimating the positioning information selected based on different principles is not related to the PMI codebook or precoding sub-matrix recommended by the node to be positioned to the reference node for precoding weighting of the downlink PDSCH data based on the same reference signal and precoding sub-matrix, the two may be the same or different. Therefore, it is necessary to additionally transmit first indication information to the reference node, which DFT basis vector/beam of the precoding sub-matrix composed of K DFT basis vectors/beams is used when the node to be positioned estimates the positioning information, is intentionally indicated.

The first indicator information in case two may be of sub-matrix size u= [ log ] as distinguished from the first indicator information in case one which is characterized by 1 bit ₂ (K)]I.e. precodingSub-matrix W ₁ Diagonal block matrix X in (a) ₁ The CPMI carries an index bit number of K DFT basis vectors/beams for indicating to a reference node which basis vector/beam of the K DFT basis vectors/beams is used for measuring positioning information for the node to be positioned.

According to the method for positioning the single anchor point under the multipath, which DFT base vector/wave beam in the precoding submatrix is selected when the node to be positioned measures the positioning information is indicated to the reference node by the node to be positioned, so that the reference node can measure the positioning information based on the same DFT base vector/wave beam.

In addition, in other embodiments in the second case, the codebook indicated by the PMI to be reported by the positioning node may be spatial two-dimensional (hereinafter referred to as the third case). At this time, when the node to be positioned and the reference node perform measurement of positioning information, the measurement is completed based on the space-frequency DFT two-dimensional basis vector.

Taking the measurement of positioning information by the node to be positioned as an example, the node to be positioned can project the received CSI-RS signal to space domain DFT and frequency domain DFT base vectors (equivalent to transforming the signal to an angle domain and a time delay domain), and each path corresponds to one space-frequency two-dimensional DFT base vector. Therefore, the node to be positioned needs to indicate the space-frequency two-dimensional DFT basis vector used by the node to be positioned for measuring the positioning information to the reference node in the CSI report reported to the reference node, so that the reference node and the node to be positioned are ensured to use the same space-frequency two-dimensional DFT basis vector to calculate the third positioning information.

In case three, the precoding sub-matrix indicated by the PMI reported by the positioning node is space-frequency two-dimensional, similar to the space-frequency precoding sub-matrix in 3GPP release 16 (R16), and then the CMPI indicates which < angle, time delay > is used by the positioning node to measure the first positioning information for the corresponding space-frequency DFT basis vector pair.

Taking the space-frequency two-dimensional codebook of 3GPP R16 as an example, the precoding matrix can be characterized as:

wherein ,W₁ Representing spatial compression +.>

Representing frequency domain compression, ++>

Representing the linear combination coefficient, W therein ₁ May comprise a submatrix consisting of a certain space domain DFT basis vector, >

A sub-matrix of frequency domain DFT basis vectors may be included. Therefore, the CMPI indication information needs to include a function for indicating the selection of W ₁ Which space domain DFT basis vector of (a)>

An indication of which frequency domain DFT basis vector constitutes the bit. Exemplary, the indicated bit size is s= [ log ] ₂ (U)+log ₂ (V)]Wherein U and V are the dimension/index value size, log of the space domain DFT base vector and the frequency domain DFT base vector respectively ₂ (U) and log ₂ (V) indexes of the space-domain DFT basis vector and the frequency-domain DFT basis vector respectively indicate bit numbers, and CMPI is used to indicate to the reference node which space-domain DFT basis vector/beam and frequency-domain DFT basis vector/beam are used for measuring the first positioning information for the node to be positioned.

According to the method for positioning the single anchor point under the multipath, the node to be positioned indicates the DFT base vector selected when the node to be positioned measures the positioning information to the reference node, so that the reference node can measure the positioning information based on the same DFT base vector.

For example, there may be a plurality of locations of the first indication information in the CSI report, which is not limited in this application. As shown in fig. 7, taking the example that the first indication information is CPMI (specific content may include what is described in the above three cases), a schematic structure of the first indication information at different positions of CSI report is shown.

In some embodiments, as shown in fig. 7 (a), the CMPI may be carried in CSI report by adding a bit to UCI (Uplink) part1 in CSI report to carry indication information.

Alternatively, as shown in fig. 7 (b), the CMPI may be carried in CSI report by adding a bit to UCI part2 in CSI report to carry CMPI indication information.

Alternatively still, as shown in fig. 7 (c), CMPI may be separately placed as a newly added UCI part3 in CSI report.

Wherein the CSI in FIG. 7 includes K in addition to the aforementioned CQI, RI, CMPI in the uplink first part _NZ，TOT For representing the number of all non-zero coefficients in all layers; bitmaps per layer corresponds to the non-zero coefficient bitmap of all layers; strongest coefficient indication (strongest coefficient indicator, SCI); a frequency domain sub-matrix selection indication (FD) basis subset selection indicator and a spatial sub-matrix selection indication (SD) basis subset selection indicator; spatial domain oversampling factor (SD oversampling factor).

Exemplary, as shown in fig. 8, a schematic structural diagram of a communication node according to an embodiment of the present application is provided. The communication node 800 includes a receiving module 801, a processing module 802, and a transmitting module 803.

In one implementation, the receiving module 801 may be configured to receive a first positioning measurement reference signal transmitted via N transmission paths, where N is an integer greater than 1, and the first positioning measurement reference signal is sent by a reference node.

In one implementation, the processing module 802 may be configured to measure first positioning information according to the first positioning measurement reference signal on a first transmission path, where the first transmission path is a transmission path of the N transmission paths

In one implementation, the sending module 803 may be configured to send first indication information and second positioning measurement reference signals to the reference node, where the first indication information is used to indicate the first transmission path, so that the reference node measures the second positioning information on the first transmission path.

In one implementation manner, the first transmission path is a first path or a strongest path, where a transmission delay of the first positioning measurement reference signal on the first path is the smallest, and attenuation of the first positioning measurement reference signal on the strongest path is the smallest, and the processing module 802 may be further configured to determine the first transmission path according to the transmission delay and/or signal power of the first positioning measurement reference signal.

In one implementation, the processing module 802 may be configured to measure first positioning information according to the first positioning measurement reference signal on the first transmission path, including recording an arrival time T2 of the first positioning measurement reference signal; and measuring an arrival angle AOA1 of the first positioning measurement reference signal.

In one implementation, the processing module 802 may be further configured to record a transmission time T3 of the second positioning measurement reference signal; and/or measuring an emission angle AOD1 of the second positioning measurement reference signal.

In one implementation, the sending module 803 may be further configured to send third positioning information to the positioning service node, where the third positioning information includes the first time information; alternatively, the third positioning information includes first time information and first angle information; wherein the first time information includes: an arrival time T2 of the first positioning measurement reference signal and a transmission time T3 of the second positioning measurement reference signal; or, a difference value T3-T2 between the sending time T3 of the second positioning measurement reference signal and the arrival time T2 of the first positioning measurement reference signal; the first angle information includes: the first positioning measures an arrival angle AOA1 of a reference signal; and/or, the second positioning measures an emission angle AOD1 of the reference signal.

Alternatively, in one implementation, the receiving module 801 may be configured to receive a first positioning measurement reference signal transmitted via N transmission paths, where N is an integer greater than 1, and the first positioning measurement reference signal is sent by a reference node.

The processing module 802 may be configured to measure first positioning information according to first intermediate information, where the first intermediate information includes a DFT basis vector corresponding to a first transmission path in a precoding matrix, and the first transmission path belongs to one of the N transmission paths.

The sending module 803 may be configured to send first indication information and second positioning measurement reference signals to the reference node, where the first indication information is used to indicate the first intermediate information, so that the reference node measures second positioning information according to the first intermediate information.

In one implementation, the first indication information is used to indicate the first intermediate information, including: the first indication information includes identification information of the DFT basis vector.

In one implementation, the first indication information is used to indicate the first intermediate information, including: the first indication information includes index information of a DFT basis vector in the precoding sub-matrix.

In one implementation, the DFT basis vector is a frequency-domain DFT basis vector; alternatively, the DFT basis vectors are space-domain and frequency-domain two-dimensional basis vectors.

In one implementation, the first transmission path is a first path or a strongest path, where a transmission delay of the first positioning measurement reference signal on the first path is the smallest, and attenuation of the first positioning measurement reference signal on the strongest path is the smallest, and the processing module 802 may be further configured to determine the first transmission path according to the transmission delay and/or signal power of the first positioning measurement reference signal.

In one implementation, the processing module 802 may be further configured to record a first arrival time T2 of the first positioning measurement reference signal; a first angle of arrival AOA1 of the first positioning measurement reference signal is measured.

In one implementation, the processing module 802 may be further configured to record a first transmission time T3 of the second positioning measurement reference signal; and/or measuring a first emission angle AOD1 of the second positioning measurement reference signal.

In one implementation, the first indication information is carried in channel state information.

In one implementation, the channel state information further includes, but is not limited to: precoding matrix indicates PMI information, channel quality indication information CQI, rank indication information RI of channel matrix.

Exemplary, as shown in fig. 9, a schematic structural diagram of a communication node according to an embodiment of the present application is provided. The communication node 900 may be a reference node. The communication node 900 includes a sending module 901, a receiving module 902, and a processing module 903.

In one implementation, the sending module 901 may be configured to send a first positioning measurement reference signal, where the first positioning measurement reference signal is transmitted to a node to be positioned via N transmission paths, where N is an integer greater than 1.

The receiving module 902 may be configured to receive first indication information and a second positioning measurement reference signal sent by the node to be positioned, where the first indication information is used to indicate a first transmission path, and the first transmission path is a transmission path of the N transmission paths.

The processing module 903 may be configured to measure second positioning information according to the first transmission path.

In one implementation, the first transmission path is a first path or a strongest path, where a transmission delay of the first positioning measurement reference signal on the first path is the smallest and an attenuation of the first positioning measurement reference signal on the strongest path is the smallest.

In one implementation, the first indication information is characterized by 1-bit information, and the first indication information is used for indicating information of the first transmission path, including: when the first transmission path is the first path, the first indication information is 1; when the first transmission path is the strongest path, the first indication information is 0; or when the first transmission path is the first path, the first indication information is 0; and when the first transmission path is the strongest path, the first indication information is 1.

In one implementation, the processing module 903 may be specifically configured to record an arrival time T4 of the second positioning measurement reference signal; and measuring an arrival angle AOA2 of the second positioning measurement reference signal.

In one implementation, the processing module 903 may be specifically configured to record the sending time T1 of the first positioning measurement reference signal; and/or measuring an emission angle AOD2 of the first positioning measurement reference signal.

In one implementation, the sending module 901 may be further configured to send fourth positioning information to a positioning service node, where the fourth positioning information includes second time information; or, the fourth positioning information includes second time information and second angle information; wherein the second time information includes: an arrival time T4 of the second positioning measurement reference signal and a transmission time T1 of the first positioning measurement reference signal; or, a difference value T4-T1 between the arrival time T4 of the second positioning measurement reference signal and the transmission time T1 of the first positioning measurement reference signal; the first angle information includes: the first positioning measures a reflection angle AOA2 of the reference signal; and/or, the second positioning measures an arrival angle AOD2 of the reference signal.

Alternatively, in one implementation, the sending module 901 may be configured to send a first positioning measurement reference signal, where the first positioning measurement reference signal is transmitted to the node to be positioned via N transmission paths, where N is an integer greater than 1.

The receiving module 902 may be configured to receive a first indication information and a second positioning measurement reference signal sent by the node to be positioned, where the first indication information is used to indicate first intermediate information, and the first intermediate information is a DFT base vector corresponding to a first transmission path, and the first transmission path belongs to one of the N transmission paths.

The processing module 903 may be configured to measure second positioning information according to the first measurement information.

In one implementation, the first indication information is used to indicate the first intermediate information, including: the first indication information includes identification information of the DFT basis vector/beam.

In one implementation, the DFT basis vector is a frequency-domain DFT basis vector; alternatively, the DFT basis vector is a space-frequency two-dimensional basis vector.

Illustratively, as shown in FIG. 10, there is shown a schematic structural diagram of a communication node. The communication node 1000 comprises a receiving module 1001 and a processing module 1002.

In an implementation manner, the receiving module 1001 may be configured to receive third positioning information sent by a node to be positioned, and fourth positioning information sent by a reference node, where the third positioning information and the fourth positioning information include positioning information obtained by the node to be positioned and the reference node based on a first transmission path, respectively, or the third positioning information and the fourth positioning information include positioning information obtained by the node to be positioned and the reference node based on the same first intermediate information, respectively, where the first intermediate information includes a DFT base vector.

In one implementation, the processing module 1002 may be configured to locate the node to be located according to the third location information and the fourth location information.

In one implementation, the processing module 1002 may be specifically configured to determine a round trip time according to the first time information and the second time information; calculating positioning information of the node to be positioned according to the round trip time and AOA1 in the first angle information and AOD2 in the second angle information; or calculating the positioning information of the node to be positioned according to the round trip time and the AOD1 in the first angle information and the AOA2 in the second angle information; or calculating the positioning information of the node to be positioned according to the round trip time, the weighted values of AOA1 and AOD1 in the first angle information and AOA2 in the second angle information; or calculating the positioning information of the node to be positioned according to the round trip time, the weighted values of AOA1 and AOD1 in the first angle information and AOD2 in the second angle information; or calculating the positioning information of the node to be positioned according to the round trip time, the weighted values of AOA1 and AOD1 in the first angle information and the weighted values of AOA2 and AOD2 in the second angle information; or calculating the positioning information of the node to be positioned according to the round trip time and the weighted values of AOA1 in the first angle information and AOA2 and AOD2 in the second angle information; or calculating the positioning information of the node to be positioned according to the round trip time and the weighted values of AOD1 in the first angle information and AOA2 and AOD2 in the second angle information.

Fig. 11 shows a schematic structural diagram of a communication device provided in an embodiment of the present application. The communication device 1100 includes at least one processor 1101, a communication interface 1102, and a memory 1103, where the communication interface is configured to interact with other communication devices, and the memory stores computer program instructions, where the program instructions, when executed in the at least one processor, cause the communication device to implement the function of the triggering method of the positioning method described above on any node as follows: the source node and the target node.

In which a processor 1101, a communication interface 1102, and a memory 1103 are connected to each other by a bus 1104. Bus 1104 may be a PCI bus, an EISA bus, or the like. The bus 1104 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in FIG. 11, but not only one bus or one type of bus.

The present embodiment also provides a nonvolatile storage medium having one or more program codes stored therein, where when the processor 1101 of the communication apparatus 1100 executes the program codes, the function of the communication apparatus 1100 to execute the triggering method of the positioning method described above on any one of the following nodes is implemented: the source node and the target node.

The detailed description of each unit or module in the communication device 1100 and the technical effects brought by each unit after executing the relevant method steps executed by the source node or the target node in any method embodiment of the present application may refer to the relevant description in the method embodiment of the present application, which is not repeated herein.

In combination with the above, the present application also provides the following embodiments:

embodiment 1, a method for positioning a single anchor point under multipath, which is applied to a node to be positioned, includes:

receiving first positioning measurement reference signals transmitted through N transmission paths, wherein the first positioning measurement reference signals are transmitted by a reference node, and N is an integer greater than 1;

measuring first positioning information according to the first positioning measurement reference signal on a first transmission path, wherein the first transmission path is one transmission path in the N transmission paths;

transmitting first indication information and a second positioning measurement reference signal to the reference node, wherein,

the first indication information is used for indicating the first transmission path so that the reference node measures second positioning information on the first transmission path.

Embodiment 2 of the method of embodiment 1, wherein the first transmission path is a first path or a strongest path, and wherein a transmission delay of the first positioning measurement reference signal on the first path is the smallest and an attenuation of the first positioning measurement reference signal on the strongest path is the smallest, the method further comprising:

and determining the first transmission path according to the transmission delay and/or the signal power of the first positioning measurement reference signal.

Embodiment 3 of the method according to embodiment 2, wherein the first indication information is characterized by 1-bit information, and the first indication information is used for indicating information of the first transmission path, and includes:

when the first transmission path is the first path, the first indication information is 1;

when the first transmission path is the strongest path, the first indication information is 0; or alternatively, the process may be performed,

when the first transmission path is the first path, the first indication information is 0;

and when the first transmission path is the strongest path, the first indication information is 1.

Embodiment 4 is the method of any one of embodiments 1-3, wherein measuring first positioning information based on the first positioning measurement reference signal on a first transmission path, comprising:

Recording the arrival time T2 of the first positioning measurement reference signal;

and measuring an arrival angle AOA1 of the first positioning measurement reference signal.

Embodiment 5, the method of embodiment 4, wherein the method further comprises:

recording a transmission time T3 of the second positioning measurement reference signal; and/or the number of the groups of groups,

an emission angle AOD1 of the second positioning measurement reference signal is measured.

Embodiment 6, the method of embodiment 5, wherein the method further comprises:

transmitting third positioning information to a positioning service node, wherein the third positioning information comprises first time information; alternatively, the third positioning information includes first time information and first angle information; wherein,

the first time information includes: an arrival time T2 of the first positioning measurement reference signal and a transmission time T3 of the second positioning measurement reference signal; or, a difference value T3-T2 between the sending time T3 of the second positioning measurement reference signal and the arrival time T2 of the first positioning measurement reference signal;

the first angle information includes: the first positioning measures an arrival angle AOA1 of a reference signal; and/or, the second positioning measures an emission angle AOD1 of the reference signal.

Embodiment 7 is the method of any one of embodiments 1-6, wherein the first indication information is carried in channel state information.

Embodiment 8, the method of embodiment 7, wherein the channel state information further includes, but is not limited to:

precoding matrix indicator PMI, channel quality indicator CQI, and rank indicator RI of channel matrix.

Embodiment 9 is a method for positioning a single anchor point under multipath, wherein the method is applied to a reference node, and includes:

transmitting a first positioning measurement reference signal, wherein the first positioning measurement reference signal is transmitted to a node to be positioned through N transmission paths, and N is an integer larger than 1;

receiving first indication information and a second positioning measurement reference signal sent by the node to be positioned, wherein the first indication information is used for indicating a first transmission path, and the first transmission path is one transmission path in the N transmission paths;

and measuring second positioning information on the first transmission path according to the first indication information.

Embodiment 10 of the method of embodiment 9, wherein the first transmission path is a first path or a strongest path, wherein a transmission delay of the first positioning measurement reference signal on the first path is smallest and an attenuation of the first positioning measurement reference signal on the strongest path is smallest.

Embodiment 11 of the method according to embodiment 10, wherein the first indication information is characterized by 1-bit information, and the first indication information is used for indicating information of the first transmission path, and includes:

Embodiment 12 of the method according to any one of embodiments 9-11, wherein the measuring second positioning information on the first transmission path according to the first indication information includes:

recording the arrival time T4 of the second positioning measurement reference signal;

and measuring an arrival angle AOA2 of the second positioning measurement reference signal.

Embodiment 13, the method of embodiment 12, wherein the method further comprises:

recording a transmission time T1 of the first positioning measurement reference signal; and/or the number of the groups of groups,

an emission angle AOD2 of the first positioning measurement reference signal is measured.

Embodiment 14, the method of embodiment 13, wherein the method further comprises:

transmitting fourth positioning information to a positioning service node, wherein the fourth positioning information comprises second time information; or, the fourth positioning information includes second time information and second angle information; wherein,

the second time information includes: an arrival time T4 of the second positioning measurement reference signal and a transmission time T1 of the first positioning measurement reference signal; or, a difference value T4-T1 between the arrival time T4 of the second positioning measurement reference signal and the transmission time T1 of the first positioning measurement reference signal;

the second angle information includes: the arrival angle AOA2 of the second positioning measurement reference signal; and/or the first positioning measures an emission angle AOD2 of the reference signal.

Embodiment 15 is the method of any one of embodiments 9-14, wherein the first indication information is carried in channel state information.

Embodiment 16 the method of embodiment 15 wherein the channel state information further includes, but is not limited to:

Embodiment 17, a method for positioning a single anchor point under multipath, where the method is applied to a node to be positioned, includes:

measuring first positioning information according to first intermediate information, wherein the first intermediate information comprises a Discrete Fourier Transform (DFT) base vector corresponding to a first transmission path in a precoding sub-matrix, and the first transmission path belongs to one transmission path in the N transmission paths;

the first indication information is used for indicating the first intermediate information so that the reference node measures second positioning information according to the first intermediate information indicated by the first indication information.

Embodiment 18 of the method according to embodiment 17, wherein the first indication information is used to indicate the first intermediate information, and includes:

the first indication information includes identification information of a DFT basis vector corresponding to the first transmission path in a precoding sub-matrix.

Embodiment 19 is the method of embodiment 18, wherein the first indication information includes identification information of a DFT basis vector corresponding to the first transmission path in a precoding sub-matrix, including:

the first indication information includes index information of the DFT basis vector.

Embodiment 20 of the method of embodiment 18 or 19, wherein the precoding sub-matrix is a sub-matrix of frequency domain DFT basis vectors; or alternatively, the process may be performed,

the precoding sub-matrix is a sub-matrix formed by space-domain and frequency-domain two-dimensional DFT base vectors.

Embodiment 21 of the method according to any one of embodiments 17-20, wherein the first transmission path is a first path or a strongest path that is resolved after the DFT basis vector projection, wherein a transmission delay of the first positioning measurement reference signal on the first path is minimum, and attenuation of the first positioning measurement reference signal on the strongest path is minimum, the method further comprising:

Embodiment 22 of the method according to any one of embodiments 17-21, wherein obtaining first positioning information according to the first positioning measurement reference signal on a first transmission path includes:

Embodiment 23, the method of embodiment 22, wherein the method further comprises:

Embodiment 24, the method of embodiment 23, wherein the method further comprises:

Embodiment 25 is the method of any one of embodiments 17-24, wherein the first indication information is carried in channel state information.

Embodiment 26, the method of embodiment 25, wherein the channel state information further includes, but is not limited to:

Embodiment 27, a method for single anchor point positioning under multipath, wherein the method is applied to a reference node, includes:

receiving first indication information and a second positioning measurement reference signal sent by the node to be positioned, wherein the first indication information is used for indicating first intermediate information, the first intermediate information comprises a DFT base vector corresponding to a first transmission path in a precoding sub-matrix, and the first transmission path belongs to one of the N transmission paths;

and measuring second positioning information by utilizing the first intermediate information according to the first indication information.

Embodiment 28 of the method according to embodiment 27, wherein the first indication information is used to indicate the first intermediate information, and includes:

Embodiment 29 of the method according to embodiment 27 or 28, wherein the first indication information is used for indicating the first intermediate information, and includes:

Embodiment 30 of the method according to embodiment 28 or 29, wherein the precoding sub-matrix is a sub-matrix composed of frequency domain DFT basis vectors; or alternatively, the process may be performed,

Embodiment 31 of the method of any of embodiments 27-30, wherein the first transmission path is a first path or a strongest path resolved after the DFT basis vector projection, wherein a transmission delay of the first positioning measurement reference signal on the first path is minimum and an attenuation of the first positioning measurement reference signal on the strongest path is minimum.

Embodiment 32 is the method of any one of embodiments 27-31, wherein the measuring second positioning information according to the first measurement information includes:

Embodiment 33, the method of embodiment 32, wherein the method further comprises:

Embodiment 34, the method of embodiment 33, wherein the method further comprises:

Embodiment 35 is the method of any of embodiments 27-34, wherein the first indication information is carried in channel state information.

Embodiment 36 the method of embodiment 35 wherein the channel state information further includes, but is not limited to:

Embodiment 37, a method for single anchor point positioning under multipath, wherein the method is applied to a positioning service node, and includes:

receiving third positioning information sent by a node to be positioned and fourth positioning information sent by a reference node, wherein the third positioning information and the fourth positioning information respectively comprise positioning information obtained by the node to be positioned and the reference node based on a first transmission path, or the third positioning information and the fourth positioning information respectively comprise positioning information obtained by the node to be positioned and the reference node based on the same first intermediate information, and the first intermediate information comprises a DFT base vector;

and positioning the node to be positioned according to the third positioning information and the fourth positioning information.

Embodiment 38 is the method of embodiment 37, wherein the third positioning information includes first time information; alternatively, the third positioning information includes first time information and first angle information; wherein,

the first time information includes: an arrival time T2 of the first positioning measurement reference signal and a transmission time T3 of the second positioning measurement reference signal; or, a difference value T3-T2 between the transmission time T3 of the second positioning measurement reference signal and the arrival time T2 of the first positioning measurement reference signal; wherein the first positioning measurement reference signal is sent by the reference node, and the second positioning measurement reference signal is sent by the node to be positioned;

Embodiment 39, the method of embodiment 38, wherein the fourth positioning information includes second time information; or, the fourth positioning information includes second time information and second angle information; wherein,

the second time information includes: an arrival time T4 of the second positioning measurement reference signal and a transmission time T1 of the first positioning measurement reference signal; or, a difference value T4-T1 between the arrival time T4 of the second positioning measurement reference signal and the transmission time T1 of the first positioning measurement reference signal; wherein the first positioning measurement reference signal is sent by the reference node, and the second positioning measurement reference signal is sent by the node to be positioned;

Embodiment 40 of the method according to embodiment 39, wherein the obtaining positioning information of the node to be positioned according to the third positioning information and the fourth positioning information includes:

determining round trip time according to the first time information and the second time information;

calculating positioning information of the node to be positioned according to the round trip time and AOA1 in the first angle information and AOD2 in the second angle information; or alternatively, the process may be performed,

calculating positioning information of the node to be positioned according to the round trip time and AOD1 in the first angle information and AOA2 in the second angle information; or alternatively, the process may be performed,

calculating positioning information of the node to be positioned according to the round trip time, the weighted values of AOA1 and AOD1 in the first angle information and AOA2 in the second angle information; or alternatively, the process may be performed,

calculating positioning information of the node to be positioned according to the round trip time, the weighted values of AOA1 and AOD1 in the first angle information and AOD2 in the second angle information; or alternatively, the process may be performed,

Calculating positioning information of the node to be positioned according to the round trip time, the weighted values of AOA1 and AOD1 in the first angle information and the weighted values of AOA2 and AOD2 in the second angle information; or alternatively, the process may be performed,

calculating positioning information of the node to be positioned according to the round trip time and the weighted values of AOA1 in the first angle information and AOA2 and AOD2 in the second angle information; or alternatively, the process may be performed,

and calculating the positioning information of the node to be positioned according to the round trip time and the weighted values of the AOD1 in the first angle information and the AOA2 and the AOD2 in the second angle information.

Embodiment 41, a communication node, comprising:

a receiving module, configured to receive a first positioning measurement reference signal transmitted via N transmission paths, where the first positioning measurement reference signal is sent by a reference node, and N is an integer greater than 1;

the processing module is used for measuring first positioning information according to the first positioning measurement reference signal on a first transmission path, wherein the first transmission path is one transmission path of the N transmission paths;

a transmitting module for transmitting first indication information and a second positioning measurement reference signal to the reference node, wherein,

Embodiment 42 of the communication node according to embodiment 41, wherein the first transmission path is a first path or a strongest path, and wherein a transmission delay of the first positioning measurement reference signal on the first path is the smallest, and an attenuation of the first positioning measurement reference signal on the strongest path is the smallest, and the communication node further includes a processing module configured to determine the first transmission path according to the transmission delay and/or the signal power of the first positioning measurement reference signal.

Embodiment 43, the communication node according to embodiment 42, wherein the first indication information is characterized by 1-bit information, and the first indication information is used for indicating information of the first transmission path, and includes:

Embodiment 44 is the communication node according to any one of embodiments 41-43, wherein the processing module is specifically configured to:

Embodiment 45, the communication node according to embodiment 44, wherein the processing module is further specifically configured to:

Embodiment 46, the communication node of embodiment 45, wherein the sending module is further configured to send third positioning information to a positioning service node, where the third positioning information includes first time information; alternatively, the third positioning information includes first time information and first angle information; wherein,

Embodiment 47 is the communication node according to any one of embodiments 41-46, wherein the first indication information is carried in channel state information.

Embodiment 48 is the communication node of embodiment 47, wherein the channel state information further includes, but is not limited to:

Embodiment 49, a communication node, comprising:

the device comprises a transmitting module, a receiving module and a receiving module, wherein the transmitting module is used for transmitting a first positioning measurement reference signal which is transmitted to a node to be positioned through N transmission paths, and N is an integer larger than 1;

the receiving module is used for receiving first indication information and a second positioning measurement reference signal sent by the node to be positioned, wherein the first indication information is used for indicating a first transmission path, and the first transmission path is one transmission path in the N transmission paths;

and the processing module is used for measuring second positioning information on the first transmission path according to the first indication information.

Embodiment 50 is the communication node of embodiment 49, wherein the first transmission path is a first path or a strongest path, wherein a transmission delay of the first positioning measurement reference signal on the first path is smallest and an attenuation of the first positioning measurement reference signal on the strongest path is smallest.

Embodiment 51 of the communication node according to embodiment 50, wherein the first indication information is characterized by 1-bit information, and the first indication information is used for indicating information of the first transmission path, and includes:

Embodiment 52 is a communication node according to any of embodiments 49-51, wherein the processing module is specifically configured to:

Embodiment 53 is the communication node according to embodiment 52, wherein the processing module is further specifically configured to:

An embodiment 54, where the sending module is further configured to send fourth positioning information to a positioning service node, where the fourth positioning information includes second time information; or, the fourth positioning information includes second time information and second angle information; wherein,

Embodiment 55 is the communication node according to any of embodiments 49-54, wherein the first indication information is carried in channel state information.

Embodiment 56 the communication node of embodiment 55, wherein the channel state information further includes, but is not limited to:

Embodiment 57, a communication node, comprising:

the processing module is used for measuring first positioning information according to first intermediate information, wherein the first intermediate information comprises a Discrete Fourier Transform (DFT) base vector corresponding to a first transmission path in a precoding sub-matrix, and the first transmission path belongs to one transmission path in the N transmission paths;

Embodiment 58 is the communication node of embodiment 57, wherein the first indication information is used to indicate the first intermediate information, and includes:

Embodiment 59 is the communication node according to embodiment 58, wherein the first indication information includes identification information of a DFT basis vector corresponding to the first transmission path in a precoding sub-matrix, including:

Embodiment 60 is the communication node according to embodiment 58 or 59, wherein the precoding sub-matrix is a sub-matrix composed of frequency domain DFT basis vectors; or alternatively, the process may be performed,

An embodiment 61 of the communication node according to any one of embodiments 57 to 60, wherein the first transmission path is a first path or a strongest path that is resolved after the DFT basis vector projection, where a transmission delay of the first positioning measurement reference signal on the first path is minimum, an attenuation of the first positioning measurement reference signal on the strongest path is minimum, and the processing module is further configured to determine the first transmission path according to a transmission delay and/or a signal power of the first positioning measurement reference signal.

Embodiment 62 of the communication node according to any of embodiments 57-61, wherein the processing module is specifically configured to record an arrival time T2 of the first positioning measurement reference signal;

Embodiment 63 of the communication node according to embodiment 62, wherein the processing module is further specifically configured to record a transmission time T3 of the second positioning measurement reference signal; and/or the number of the groups of groups,

Embodiment 64, the communication node of embodiment 63, wherein the sending module is further configured to send third positioning information to a positioning service node, where the third positioning information includes first time information; alternatively, the third positioning information includes first time information and first angle information; wherein,

Embodiment 65 is the communication node according to any of embodiments 57-64, wherein the first indication information is carried in channel state information.

Embodiment 66 is the communication node of embodiment 65, wherein the channel state information further includes, but is not limited to:

Embodiment 67, a communication node, comprising:

a receiving module, configured to receive first indication information and a second positioning measurement reference signal sent by the node to be positioned, where the first indication information is used to indicate first intermediate information, the first intermediate information includes a DFT base vector corresponding to a first transmission path in a precoding sub-matrix, and the first transmission path belongs to one of the N transmission paths;

And the processing module is used for measuring second positioning information by utilizing the first intermediate information according to the first indication information.

Embodiment 68 is the communication node of embodiment 67, wherein the first indication information is used to indicate the first intermediate information, and includes:

Embodiment 69, the communication node according to embodiment 67 or 68, wherein the first indication information is used to indicate the first intermediate information, and includes:

Embodiment 70 is the communication node according to embodiment 68 or 69, wherein the precoding sub-matrix is a sub-matrix composed of frequency domain DFT basis vectors; or alternatively, the process may be performed,

An embodiment 71 of the communication node according to any one of embodiments 67 to 70, wherein the first transmission path is a first path or a strongest path that is resolved after the DFT basis vector projection, where a transmission delay of the first positioning measurement reference signal on the first path is minimum, and an attenuation of the first positioning measurement reference signal on the strongest path is minimum.

Embodiment 72 is the communication node according to any one of embodiments 67-71, wherein the processing module is specifically configured to:

Embodiment 73 is the communication node of embodiment 72, wherein the processing module is further specifically configured to:

An embodiment 74 of the communication node according to embodiment 73, wherein the sending module is further configured to send fourth positioning information to a positioning service node, where the fourth positioning information includes second time information; or, the fourth positioning information includes second time information and second angle information; wherein,

Embodiment 75 is the communication node according to any of embodiments 67-74, wherein the first indication information is carried in channel state information.

Embodiment 76 is a communication node according to embodiment 75, wherein the channel state information further includes, but is not limited to:

Embodiment 77, a communication node, comprising:

the receiving module is used for receiving third positioning information sent by a node to be positioned and fourth positioning information sent by a reference node, wherein the third positioning information and the fourth positioning information respectively comprise positioning information obtained by the node to be positioned and the reference node based on a first transmission path, or the third positioning information and the fourth positioning information respectively comprise positioning information obtained by the node to be positioned and the reference node based on the same first intermediate information, and the first intermediate information comprises a DFT base vector;

And the processing module is used for positioning the node to be positioned according to the third positioning information and the fourth positioning information.

Embodiment 78 is the communication node of embodiment 77, wherein the third positioning information includes first time information; alternatively, the third positioning information includes first time information and first angle information; wherein,

Embodiment 79 is the communication node of embodiment 78, wherein the fourth positioning information includes second time information; or, the fourth positioning information includes second time information and second angle information; wherein,

Embodiment 80 is the communication node of embodiment 79, wherein the processing module is specifically configured to:

Embodiment 81, a communication device, including at least one processor, a communication interface, and a memory, where the communication interface is used for information interaction between the communication device and other communication devices, and the memory stores computer program instructions that, when executed in the at least one processor, cause the communication device to implement the steps of:

Embodiment 82 is the communication device according to embodiment 81, wherein the first transmission path is a first path or a strongest path, wherein a transmission delay of the first positioning measurement reference signal on the first path is smallest and an attenuation of the first positioning measurement reference signal on the strongest path is smallest, and when the computer program instructions are executed in the at least one processor, the communication device is caused to implement the steps of:

An embodiment 83, the communication device according to embodiment 82, wherein the first indication information is characterized by 1-bit information, and the first indication information is used for indicating information of the first transmission path, and includes:

Embodiment 84, the communication device according to any of embodiments 81-83, wherein the computer program instructions, when executed in the at least one processor, cause the communication device to implement the steps of:

Embodiment 85, the communication device of embodiment 84, wherein the computer program instructions, when executed in the at least one processor, cause the communication device to:

Embodiment 86, the communication device of embodiment 85, wherein the computer program instructions, when executed in the at least one processor, cause the communication device to:

Embodiment 87 is the communication device of any of embodiments 81-86, wherein the first indication information is carried in channel state information.

Embodiment 88, the communication device of embodiment 87, wherein the channel state information further includes, but is not limited to:

Embodiment 89, a communication device, comprising at least one processor, a communication interface, and a memory, the communication interface for the communication device to interact with other communication devices, the memory storing computer program instructions that, when executed in the at least one processor, cause the communication device to perform the steps of:

An embodiment 90 is the communication device of embodiment 89, wherein the first transmission path is a first path or a strongest path, and a transmission delay of the first positioning measurement reference signal on the first path is the smallest, and an attenuation of the first positioning measurement reference signal on the strongest path is the smallest.

An embodiment 91, the communication device according to embodiment 90, wherein the first indication information is characterized by 1-bit information, and the first indication information is used for indicating information of the first transmission path, and includes:

Embodiment 92 is the communication device according to any of embodiments 89-91, wherein the computer program instructions, when executed in the at least one processor, cause the communication device to:

An embodiment 93, the communication device of embodiment 92, wherein the computer program instructions, when executed in the at least one processor, cause the communication device to:

An embodiment 94, the communication device of embodiment 93, wherein the computer program instructions, when executed in the at least one processor, cause the communication device to:

Embodiment 95 is the communication device of any of embodiments 89-94, wherein the first indication information is carried in channel state information.

Embodiment 96 is the communication device of embodiment 95, wherein the channel state information further includes, but is not limited to:

Embodiment 97, a communication device, comprising at least one processor, a communication interface, and a memory, the communication interface for information interaction of the communication device with other communication devices, the memory storing computer program instructions that, when executed in the at least one processor, cause the communication device to perform the steps of:

An embodiment 98, the communication device according to embodiment 97, wherein the first indication information is used to indicate the first intermediate information, and includes:

An embodiment 99 is the communication apparatus according to embodiment 98, wherein the first indication information includes identification information of a DFT basis vector corresponding to the first transmission path in a precoding sub-matrix, including:

An embodiment 100 of the communication apparatus according to embodiment 98 or 99, wherein the precoding sub-matrix is a sub-matrix composed of frequency domain DFT basis vectors; or alternatively, the process may be performed,

Embodiment 101 of the communication device according to any one of embodiments 97-100, wherein the first transmission path is a first path or a strongest path that is resolved after the DFT basis vector projection, wherein a transmission delay of the first positioning measurement reference signal on the first path is minimum, and an attenuation of the first positioning measurement reference signal on the strongest path is minimum, and when the computer program instructions are executed in the at least one processor, the communication device is caused to implement the steps of:

Embodiment 102 is the communication device of any of embodiments 97-101, wherein the computer program instructions, when executed in the at least one processor, cause the communication device to:

Embodiment 103, the communication device of embodiment 102, wherein the computer program instructions, when executed in the at least one processor, cause the communication device to:

Embodiment 104, the communication device of embodiment 103, wherein the computer program instructions, when executed in the at least one processor, cause the communication device to:

Embodiment 105 is the communication device of any of embodiments 97-104, wherein the first indication information is carried in channel state information.

Embodiment 106 is the communication device of embodiment 105, wherein the channel state information further includes, but is not limited to:

Embodiment 107, a communication device, including at least one processor, a communication interface, and a memory, where the communication interface is used for information interaction between the communication device and other communication devices, and the memory stores computer program instructions that, when executed in the at least one processor, cause the communication device to implement the steps of:

An embodiment 108 is the communication device of embodiment 107, wherein the first indication information is used to indicate the first intermediate information, including:

Embodiment 109 is the communication apparatus according to embodiment 107 or 108, wherein the first indication information is used to indicate the first intermediate information, including:

An embodiment 110 of the communication device according to embodiment 108 or 109, wherein the precoding sub-matrix is a sub-matrix composed of frequency domain DFT basis vectors; or alternatively, the process may be performed,

Embodiment 111 of the communication device according to any one of embodiments 107 to 110, wherein the first transmission path is a first path or a strongest path that is resolved after the DFT basis vector projection, where a transmission delay of the first positioning measurement reference signal on the first path is minimum and an attenuation of the first positioning measurement reference signal on the strongest path is minimum.

Embodiment 112, the communication device according to any of embodiments 107-111, wherein the computer program instructions, when executed in the at least one processor, cause the communication device to:

Embodiment 113, the communication device of embodiment 112, wherein the computer program instructions, when executed in the at least one processor, cause the communication device to:

Embodiment 114, the communication device of embodiment 113, wherein the computer program instructions, when executed in the at least one processor, cause the communication device to:

Embodiment 115 is the communication device of any of embodiments 107-114, wherein the first indication information is carried in channel state information.

Embodiment 116 is the communication device of embodiment 115, wherein the channel state information further includes, but is not limited to:

Embodiment 117, a communication device, including at least one processor, a communication interface, and a memory, where the communication interface is used for information interaction between the communication device and other communication devices, and the memory stores computer program instructions that, when executed in the at least one processor, cause the communication device to implement the steps of:

Embodiment 118, the communication device of embodiment 117, wherein the third positioning information includes first time information; alternatively, the third positioning information includes first time information and first angle information; wherein,

Embodiment 119, the communication device of embodiment 118, wherein the fourth positioning information includes second time information; or, the fourth positioning information includes second time information and second angle information; wherein,

Embodiment 120 the communication device of embodiment 119, wherein the computer program instructions, when executed in the at least one processor, cause the communication device to:

Embodiment 121, a communication system includes a node to be positioned and a reference node, where the reference node is configured to send a first positioning measurement reference signal, where the first positioning measurement reference signal is transmitted to the node to be positioned via N transmission paths, and N is an integer greater than 1;

A node to be positioned for receiving first positioning measurement reference signals transmitted via N transmission paths; measuring first positioning information according to the first positioning measurement reference signal on a first transmission path, wherein the first transmission path is one transmission path in the N transmission paths; transmitting first indication information and second positioning measurement reference signals to the reference node, wherein the first indication information is used for indicating the first transmission path so that the reference node measures the second positioning information on the first transmission path;

the reference node is further configured to receive first indication information and a second positioning measurement reference signal sent by the node to be positioned, where the first indication information is used to indicate a first transmission path, and the first transmission path is one of the N transmission paths; and measuring second positioning information on the first transmission path according to the first indication information.

Embodiment 122 is the communication system according to embodiment 121, wherein the first transmission path is a first path or a strongest path, a transmission delay of the first positioning measurement reference signal on the first path is the smallest, an attenuation of the first positioning measurement reference signal on the strongest path is the smallest, and the node to be positioned is further configured to determine the first transmission path according to the transmission delay and/or the signal power of the first positioning measurement reference signal.

Embodiment 123 of the communication system according to embodiment 121 or 122, wherein the first indication information is characterized by 1-bit information, and the first indication information is used for indicating information of the first transmission path, and includes: when the first transmission path is the first path, the first indication information is 1; when the first transmission path is the strongest path, the first indication information is 0; or when the first transmission path is the first path, the first indication information is 0; and when the first transmission path is the strongest path, the first indication information is 1.

Embodiment 124 of the communication system according to any one of embodiments 121-123, wherein the node to be located is further configured to record an arrival time T2 of the first positioning measurement reference signal; and measuring an arrival angle AOA1 of the first positioning measurement reference signal.

Embodiment 125 of the communication system according to any one of embodiments 121 to 124, wherein the node to be located is further configured to record a transmission time T3 of the second positioning measurement reference signal; and/or measuring an emission angle AOD1 of the second positioning measurement reference signal.

Embodiment 126, the communication system according to any one of embodiments 121-125, wherein the reference node is further configured to record an arrival time T4 of the second positioning measurement reference signal; and measuring an arrival angle AOA2 of the second positioning measurement reference signal.

Embodiment 127 of the communication system according to any one of embodiments 121-126, wherein the reference node is further configured to record a transmission time T1 of the first positioning measurement reference signal; and/or measuring an emission angle AOD2 of the first positioning measurement reference signal.

Embodiment 128, the communication system according to any one of embodiments 121 to 127, wherein the node to be located is further configured to send third location information to a location service node, where the third location information includes first time information; alternatively, the third positioning information includes first time information and first angle information; wherein the first time information includes: an arrival time T2 of the first positioning measurement reference signal and a transmission time T3 of the second positioning measurement reference signal; or, a difference value T3-T2 between the sending time T3 of the second positioning measurement reference signal and the arrival time T2 of the first positioning measurement reference signal; the first angle information includes: the first positioning measures an arrival angle AOA1 of a reference signal; and/or, the second positioning measures an emission angle AOD1 of the reference signal.

Embodiment 129, the communication system of any of embodiments 121-128, the reference node further configured to send fourth positioning information to a positioning service node, wherein the fourth positioning information includes second time information; or, the fourth positioning information includes second time information and second angle information; wherein the second time information includes: an arrival time T4 of the second positioning measurement reference signal and a transmission time T1 of the first positioning measurement reference signal; or, a difference value T4-T1 between the arrival time T4 of the second positioning measurement reference signal and the transmission time T1 of the first positioning measurement reference signal; the second angle information includes: the arrival angle AOA2 of the second positioning measurement reference signal; and/or the first positioning measures an emission angle AOD2 of the reference signal.

Embodiment 130 is the communication system of any of embodiments 121-129, wherein the first indication information is carried in channel state information.

Embodiment 131 is the communication system of any one of embodiments 121-130, wherein the channel state information further includes, but is not limited to: precoding matrix indicator PMI, channel quality indicator CQI, and rank indicator RI of channel matrix.

Embodiment 132, a communication system includes a node to be positioned and a reference node, where the reference node is configured to send a first positioning measurement reference signal, where the first positioning measurement reference signal is transmitted to the node to be positioned via N transmission paths, and N is an integer greater than 1;

a node to be positioned for receiving first positioning measurement reference signals transmitted via N transmission paths; measuring first positioning information according to first intermediate information, wherein the first intermediate information comprises a Discrete Fourier Transform (DFT) base vector corresponding to a first transmission path in a precoding sub-matrix, and the first transmission path belongs to one transmission path in the N transmission paths; transmitting first indication information and a second positioning measurement reference signal to the reference node, wherein the first indication information is used for indicating the first intermediate information so that the reference node measures second positioning information according to the first intermediate information indicated by the first indication information;

The reference node is further configured to receive first indication information and a second positioning measurement reference signal sent by the node to be positioned, where the first indication information is used to indicate first intermediate information, the first intermediate information includes a DFT base vector corresponding to a first transmission path in a precoding sub-matrix, and the first transmission path belongs to one of the N transmission paths; and measuring second positioning information by utilizing the first intermediate information according to the first indication information.

An embodiment 133 of the communication system of embodiment 132, wherein the first indication information is used for indicating the first intermediate information, and includes: the first indication information includes identification information of a DFT basis vector corresponding to the first transmission path in a precoding sub-matrix.

Embodiment 134 of the communication system according to embodiment 132 or 133, wherein the first indication information includes identification information of a DFT basis vector corresponding to the first transmission path in a precoding sub-matrix, and includes: the first indication information includes index information of the DFT basis vector.

An embodiment 135 is the communication system according to any one of embodiments 132 to 134, wherein the precoding sub-matrix is a sub-matrix composed of frequency domain DFT basis vectors; or the precoding submatrix is a submatrix formed by space-domain and frequency-domain two-dimensional DFT base vectors.

An embodiment 136 of the communication system according to any one of embodiments 132 to 135, wherein the first transmission path is a first path or a strongest path that is resolved after the DFT basis vector projection, where a transmission delay of the first positioning measurement reference signal on the first path is minimum, an attenuation of the first positioning measurement reference signal on the strongest path is minimum, and the node to be positioned is further configured to: and determining the first transmission path according to the transmission delay and/or the signal power of the first positioning measurement reference signal.

An embodiment 137 of the communication system according to any one of embodiments 132 to 136, wherein the node to be located is further configured to record an arrival time T2 of the first positioning measurement reference signal; and measuring an arrival angle AOA1 of the first positioning measurement reference signal.

An embodiment 138 of the communication system according to any one of embodiments 132 to 137, wherein the node to be located is further configured to record a transmission time T3 of the second positioning measurement reference signal; and/or measuring an emission angle AOD1 of the second positioning measurement reference signal.

Embodiment 139, the communication system according to any one of embodiments 132-138, wherein the reference node is further configured to record an arrival time T4 of the second positioning measurement reference signal; and measuring an arrival angle AOA2 of the second positioning measurement reference signal.

Embodiment 140 of the communication system according to any of embodiments 132-139, wherein the reference node is further configured to record a transmission time T1 of the first positioning measurement reference signal; and/or measuring an emission angle AOD2 of the first positioning measurement reference signal.

Embodiment 141 of the communication system according to any one of embodiments 132 to 140, wherein the node to be located is further configured to send third location information to a location service node, where the third location information includes first time information; alternatively, the third positioning information includes first time information and first angle information; wherein the first time information includes: an arrival time T2 of the first positioning measurement reference signal and a transmission time T3 of the second positioning measurement reference signal; or, a difference value T3-T2 between the sending time T3 of the second positioning measurement reference signal and the arrival time T2 of the first positioning measurement reference signal; the first angle information includes: the first positioning measures an arrival angle AOA1 of a reference signal; and/or, the second positioning measures an emission angle AOD1 of the reference signal.

An embodiment 142 of the communication system according to any one of embodiments 132 to 141, wherein the reference node is further configured to send fourth positioning information to a positioning service node, where the fourth positioning information includes second time information; or, the fourth positioning information includes second time information and second angle information; wherein the second time information includes: an arrival time T4 of the second positioning measurement reference signal and a transmission time T1 of the first positioning measurement reference signal; or, a difference value T4-T1 between the arrival time T4 of the second positioning measurement reference signal and the transmission time T1 of the first positioning measurement reference signal; the second angle information includes: the arrival angle AOA2 of the second positioning measurement reference signal; and/or the first positioning measures an emission angle AOD2 of the reference signal.

Embodiment 143 is the communication system of any of embodiments 132-142, wherein the first indication information is carried in channel state information.

Embodiment 144 is the communication system of any of embodiments 132-143, the channel state information further including, but not limited to: precoding matrix indicator PMI, channel quality indicator CQI, and rank indicator RI of channel matrix.

An embodiment 145 of the communication system according to any one of embodiments 121 to 143, further including a positioning service node configured to receive third positioning information sent by a node to be positioned, and fourth positioning information sent by a reference node, where the third positioning information and the fourth positioning information include positioning information obtained by the node to be positioned and the reference node based on a first transmission path, respectively, or the third positioning information and the fourth positioning information include positioning information obtained by the node to be positioned and the reference node based on the same first intermediate information, respectively, and the first intermediate information includes a DFT base vector; and positioning the node to be positioned according to the third positioning information and the fourth positioning information.

An embodiment 146, the communication system of embodiment 145, the location service node is specifically configured to: determining round trip time according to the first time information and the second time information; calculating positioning information of the node to be positioned according to the round trip time and AOA1 in the first angle information and AOD2 in the second angle information; or calculating the positioning information of the node to be positioned according to the round trip time and the AOD1 in the first angle information and the AOA2 in the second angle information; or calculating the positioning information of the node to be positioned according to the round trip time, the weighted values of AOA1 and AOD1 in the first angle information and AOA2 in the second angle information; or calculating the positioning information of the node to be positioned according to the round trip time, the weighted values of AOA1 and AOD1 in the first angle information and AOD2 in the second angle information; or calculating the positioning information of the node to be positioned according to the round trip time, the weighted values of AOA1 and AOD1 in the first angle information and the weighted values of AOA2 and AOD2 in the second angle information; or calculating the positioning information of the node to be positioned according to the round trip time and the weighted values of AOA1 in the first angle information and AOA2 and AOD2 in the second angle information; or calculating the positioning information of the node to be positioned according to the round trip time and the weighted values of AOD1 in the first angle information and AOA2 and AOD2 in the second angle information.

Embodiment 147, a computer program product, which when run on a computer, enables the computer to perform the method according to any of the embodiments 1 to 40 described above.

Embodiment 148, a computer readable storage medium having instructions stored therein, which when run on a computer, cause the computer to perform the method according to any of the embodiments 1 to 40 described above.

Embodiment 149, a chip comprising a processor for performing the methods according to any of the embodiments 1 to 40 described above when the processor executes instructions. The instructions may come from memory internal to the chip or from memory external to the chip. Optionally, the chip further comprises an input-output circuit.

The communication node, the communication device, the computer readable storage medium, the computer program product, and the chip provided in the embodiments of the present application are all configured to perform the method provided above, so that the advantages achieved by the method provided above can be referred to the advantages corresponding to the method provided above, and are not described herein again.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present application, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted across a computer-readable storage medium. The computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital subscriber line), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a Solid State Disk (SSD)), or the like.

Those of ordinary skill in the art will appreciate that implementing all or part of the above-described method embodiments may be accomplished by a computer program to instruct related hardware, the program may be stored in a computer readable storage medium, and the program may include the above-described method embodiments when executed. And the aforementioned storage medium includes: ROM or random access memory RAM, magnetic or optical disk, etc.

The foregoing is merely a specific implementation of the embodiments of the present application, but the protection scope of the embodiments of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the embodiments of the present application should be covered by the protection scope of the embodiments of the present application. Therefore, the protection scope of the embodiments of the present application shall be subject to the protection scope of the claims.

Claims

1. The method for positioning the single anchor point under the multipath is characterized by being applied to the node to be positioned and comprising the following steps:

the first indication information is used for indicating the first transmission path so that the reference node measures the second positioning information on the first transmission path, and the first positioning information and the second positioning information measured by the reference node and the node to be positioned are ensured to be positioning information on the same transmission path.

2. The method of claim 1, wherein the first transmission path is a first or strongest path, wherein a transmission delay of the first positioning measurement reference signal on the first path is minimal and an attenuation of the first positioning measurement reference signal on the strongest path is minimal, the method further comprising:

3. The method of claim 2, wherein the first indication information is characterized by 1-bit information, the first indication information being used to indicate information of the first transmission path, comprising:

4. A method according to any of claims 1-3, wherein measuring first positioning information from the first positioning measurement reference signal on a first transmission path comprises:

5. The method according to claim 4, wherein the method further comprises:

6. The method of claim 5, wherein the method further comprises:

The first time information includes:

an arrival time T2 of the first positioning measurement reference signal and a transmission time T3 of the second positioning measurement reference signal; or alternatively, the process may be performed,

a difference value T3-T2 between the sending time T3 of the second positioning measurement reference signal and the arrival time T2 of the first positioning measurement reference signal;

the first angle information includes:

the first positioning measures an arrival angle AOA1 of a reference signal; and/or the number of the groups of groups,

the second positioning measures the emission angle AOD1 of the reference signal.

7. The method of claim 1, wherein the first indication information is carried in channel state information.

8. The method of claim 7, wherein the channel state information further includes, but is not limited to:

9. A method for single anchor point positioning under multipath, which is applied to a reference node, comprising:

And measuring second positioning information on the first transmission path according to the first indication information, and ensuring that the first positioning information and the second positioning information measured by the reference node and the node to be positioned are positioning information on the same transmission path.

10. The method of claim 9, wherein the first transmission path is a first or strongest path, wherein a transmission delay of the first positioning measurement reference signal on the first path is minimal and attenuation of the first positioning measurement reference signal on the strongest path is minimal.

11. The method of claim 10, wherein the first indication information is characterized by 1-bit information, the first indication information being used to indicate information of the first transmission path, comprising:

12. The method according to any of claims 9-11, wherein said measuring second positioning information on the first transmission path according to the first indication information comprises:

13. The method according to claim 12, wherein the method further comprises:

14. The method of claim 13, wherein the method further comprises:

the second time information includes:

an arrival time T4 of the second positioning measurement reference signal and a transmission time T1 of the first positioning measurement reference signal; or alternatively, the process may be performed,

a difference value T4-T1 between an arrival time T4 of the second positioning measurement reference signal and a transmission time T1 of the first positioning measurement reference signal;

The second angle information includes:

the arrival angle AOA2 of the second positioning measurement reference signal; and/or the number of the groups of groups,

the first positioning measures the emission angle AOD2 of the reference signal.

15. The method of claim 9, wherein the first indication information is carried in channel state information.

16. The method of claim 15, wherein the channel state information further includes, but is not limited to:

17. A method for single anchor point positioning under multipath, which is applied to a positioning service node, comprising:

receiving third positioning information sent by a node to be positioned and fourth positioning information sent by a reference node, wherein the third positioning information and the fourth positioning information respectively comprise positioning information obtained by the node to be positioned and the reference node based on a first transmission path, or the third positioning information and the fourth positioning information respectively comprise positioning information obtained by the node to be positioned and the reference node based on the same first intermediate information, so that the first positioning information and the second positioning information measured by the reference node and the node to be positioned are positioning information on the same transmission path, and the first intermediate information comprises DFT base vectors;

18. The method of claim 17, wherein the third positioning information comprises first time information; alternatively, the third positioning information includes first time information and first angle information; wherein,

the first time information includes:

a difference value T3-T2 between the sending time T3 of the second positioning measurement reference signal and the arrival time T2 of the first positioning measurement reference signal; wherein the first positioning measurement reference signal is sent by the reference node, and the second positioning measurement reference signal is sent by the node to be positioned;

the first angle information includes:

19. The method of claim 18, wherein the fourth positioning information comprises second time information; or, the fourth positioning information includes second time information and second angle information; wherein,

The second time information includes:

a difference T4-T1 between the arrival time T4 of the second positioning measurement reference signal and the transmission time T1 of the first positioning measurement reference signal; wherein the first positioning measurement reference signal is sent by the reference node, and the second positioning measurement reference signal is sent by the node to be positioned;

the second angle information includes:

the first positioning measures the emission angle AOD2 of the reference signal.

20. The method of claim 19, wherein the obtaining the positioning information of the node to be positioned according to the third positioning information and the fourth positioning information comprises:

21. A communication device comprising at least one processor, a communication interface for the communication device to interact with other communication devices, and a memory storing computer program instructions which, when executed in the at least one processor, cause the communication device to implement the functionality of the method of any one of claims 1 to 8 on the node to be located, or the functionality of the method of any one of claims 9 to 16 on the reference node, or the functionality of the method of any one of claims 17 to 20 on the location service node.

22. A computer program readable storage medium, characterized in that the computer program storage medium has program instructions which, when executed directly or indirectly, cause the function of the method according to any one of claims 1 to 8 on the node to be located, or the function of the method according to any one of claims 9 to 16 on the reference node, or the function of the method according to any one of claims 17 to 20 on the location service node.

23. A system on a chip, characterized in that the system on a chip comprises at least one processor, which when program instructions are executed in the at least one processor, causes the function of the method according to any of claims 1 to 8 on the node to be located, or the function of the method according to any of claims 9 to 16 on the reference node, or the function of the method according to any of claims 17 to 20 on the location service node.